文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法，着重对量测矩阵进行推导。
Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized.
实时估计出系统噪声方差矩阵和量测噪声方差矩阵，对状态变量进行灰色聚类，并对滤波矩阵和增益矩阵进行实时自适应调整，计算出状态向量的递推估计值。
Based on real-time estimation of noise matrix and grey clustering of state variable, filter or gain matrix is modulated so as to get an estimation of the state vector.
文中提出了避免残差灵敏度矩阵存储的新方法，以及对量测估计进行局部修正的方法。
A new method of how to avoid the storage of the residue sensitivity matrix and of how to make local correction of measurement estimates are discussed in this paper.
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