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The physical nature of gamma-ray bursts (GRBs) is believed to involve an ultra-relativistic jet. The observed complex structure of light curves motivates the idea of jet precession. In this work, we study the gravitational waves of jet precession based on neutrino-dominated accretion disks around black holes, which may account for the central engine of GRBs. In our model, the jet and the inner part of the disk may precess along with the black hole, which is driven by the outer part of the disk. Gravitational waves are therefore expected to be significant from this black-hole-inner-disk precession system. By comparing our numerical results with the sensitivity of some detectors, we find that it is possible for DECIGO and BBO to detect such gravitational waves, particularly for GRBs in the Local Group. [ABSTRACT FROM AUTHOR]