同时，在该非等间隔卡尔曼滤波算法的基础上，提出了解决量测滞后的方案。

And based on the in-coordinate interval kalman filtering algorithms, the paper gave the scheme of solving the measurement delay.

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设计了多位置测漂方案，利用扩展卡尔曼滤波对理想、非理想线振动条件下的参数辨识问题进行仿真。

The application of the Extended Kalman Filter (EKF) to identify INS platform drift error coefficients under the condition of ideal and nonideal linear vibration is presented.

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在软件设计中加入了陀螺仪的测漂和定标过程，在水平初始对准、方位初始对准过程中运用了卡尔曼滤波技术。

In the software design the gyro's drift measure and the process of calibration is added. The Kalman filtering technique is used in the horizontal initial alignment and the azimuth initial alignment.

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