The invention discloses a
missile erection filtering method,
system and device and a readable storage medium, and relates to the technical field of inertial navigation and the field of initial alignment. Based on the reference inertial unit
pitch angle before erection, the reference inertial unit
pitch angle at the current moment, the inertial unit
angular velocity on the
missile and the trajectory launching inclination angle, whether the
missile is in any one of the non-target states of the non-erection state, the just erection state, the to-be-erected in-place state and the erection completion state or not is judged; if yes, measurement updating is not carried out in the Kalman filtering calculation process of the current moment, and time updating is carried out based on the
state transition matrix of the current moment, the
state vector of the previous moment, the
mean square error matrix of the previous moment and the
process noise variance matrix; and attitude information output by the
inertial navigation system at the current moment is used as a missile attitude result for calculation at the next moment. According to the method, shaking between the guided missile and the launching box in the erecting process before launching is considered, and the attitude precision of initial alignment of the guided missile is improved.