该方法将主惯导数据测量延迟时间扩展为卡尔曼滤波器的一个状态变量，并同时考虑了测量延迟时间对速度和姿态测量量的影响。
The method augments the measurement delay as a state of conventional Kalman filter as a state, and impacts on both velocity and attitude measurements owing to the time delay are also considered.
该方法将主惯导数据测量延迟时间扩展为卡尔曼滤波器的一个状态变量，并同时考虑了测量延迟时间对速度和姿态测量量的影响。
The method augments the measurement delay as a state of conventional Kalman filter as a state, and impacts on both velocity and attitude measurements owing to the time delay are also considered.
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