The GPS integer ambiguity estimates, the navigation parameter estimates and their variance-covariance matrix are derived by using Markovian estimation.
利用马尔柯夫估计，推导了GPS整周模糊度估计矢量和导航定位参数估计矢量的表达式，以及相应的协方差矩阵；
Improving the accuracy of angular resolution is the key way to improve the navigation parameter resolution precision of accelerometer based gyro-free inertial navigation system.
提高角速度解算精度是提高无陀螺惯性导航系统导航参数解算精度的主要途径。
Primary filter accomplishes the fusion of public state vectors about sub filters and time updating, and outputs the credible, precise and optimal estimation of navigation parameter error.
主滤波器(全局滤波器)进行子滤波器的公共状态矢量融合和时间更新，输出可靠、准确的导航参数误差的全局最优估计量。
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