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.

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改进的滤波估计法引入偏差去耦技术在零速校正期间估计出陀螺漂移，并利用速度信息快速估计出方位误差角。

In the improved filter estimation method, the decoupled state and bias estimation technology is introduced to estimate gyro constant bias during ZUPT.

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首先，该校正方法将含有误差的系统响应作为先验信息构造校正矩阵，并校正得到初步的反演图像；

Then, the array factor of ASMRs estimated from the prior information is introduced to the CLEAN algorithm and used to calibrate the remained errors in the primary image.

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首先，该校正方法将含有误差的系统响应作为先验信息构造校正矩阵，并校正得到初步的反演图像；

Then, the array factor of ASMRs estimated from the prior information is introduced to the CLEAN algorithm and used to calibrate the remained errors in the primary image.

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