在噪声统计未知或时变的情况下，每个位置采用自适应卡尔曼滤波解算出平台各轴的漂移角速率，并在此基础上辨识出漂移参数。
In case of the noise statistic being unknown or variable, adaptive Kalman filter is used to get drift speed of each axle at each test position, and then drift parameter is calculated.
由仿真结果可以看出，它能较精确地估计陀螺常值漂移和航向角误差，为系统误差的校正提供了可信信息。
The simulation results show that the constant gyro drifts and the heading errors, which provide information for calibrating the system errors, can be estimated exactly.
对由于惯性基准的漂移而引起的载体姿态角的测量误差也进行了分析。
The measurement error of vehicle's attitude caused by the drift of platform reference is also analyzed.
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