When the misalignment angle is a large angle in the strapdown inertial navigation system (SINS). it is necessary to establish a nonlinear error model to estimate the error. Hence. an improved initial alignment method based on adaptive robust CKF algorithm is proposed in this paper. https://www.ngetikin.com/limited-buy-NHL-Dallas-Stars-Lineup-iPhone-13-Skin-p119122-great-pick/