文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法，着重对量测矩阵进行推导。
Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized.
最后，针对输入扰动和量测噪声不同的广义系统提出了一种新的观测器设计方法，讨论了噪声对误差的影响。
Finally, for descriptor systems with different input disturbances and measurement noises, we get a new observer method, and give a discussion about the effect of the noises to the error.
将卡尔曼滤波技术应用于捷联惯导系统的初始对准研究，建立了系统的误差方程和量测方程，对系统的静基座初始对准进行了仿真研究。
By means of Kalman filter techniques, error equation and measure equation of SINS are presented. We made the simulation on initial alignment of navigation system on stationary base in the lab.
将卡尔曼滤波技术应用于捷联惯导系统的初始对准研究，建立了系统的误差方程和量测方程，对系统的静基座初始对准进行了仿真研究。
By means of Kalman filter techniques, error equation and measure equation of SINS are presented. We made the simulation on initial alignment of navigation system on stationary base in the lab.
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