Linear and nonlinear error models for Inertial Navigation System (INS) initial alignment are established.
建立了惯导系统(INS)初始对准的线性和非线性误差模型。
The error model can be used a tool of terrestrial vehicle navigation error analysis, but also can be used in its initial alignment.
此误差模型，不仅可以作为陆地载体的导航误差分析，而且可以用于系统的初始对准研究。
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。
According to this model and the Kalman filter arithmetic, the FOG random error was filtered in real time in the process of initial alignment and navigation of FOG inertial navigation system.
根据该模型，采用卡尔曼滤波算法，实现了光纤陀螺惯导系统在对准与导航过程中光纤陀螺随机误差的实时滤波。
The Kalman filter theory is introduced and the dynamic error vector equation of the initial alignment is derived at the first.
首先介绍了卡尔曼滤波理论及相关技术，建立了系统卡尔曼滤波的状态方程和观测方程；
According to the peculiarity of the SINS nonlinear error model, the simplified SPKF algorithm was derived, and the SINS initial alignment were simulated based on EKF and simplified SPKF.
针对对准模型的特性，推导了SPKF简化算法，进行了静基座下基于扩展卡尔曼滤波(ekf)、简化spkf的SINS初始对准仿真。
Furthermore, several main error factors on initial alignment precision are analyzed, and the corresponding solutions are provided. The simulation results show that the method is feasible.
根据实际情况仿真分析了几种主要的误差因素对对准精度的影响，并给出了相应的解决方法，仿真结果证实了该方法的可行性。
Furthermore, several main error factors on initial alignment precision are analyzed, and the corresponding solutions are provided. The simulation results show that the method is feasible.
根据实际情况仿真分析了几种主要的误差因素对对准精度的影响，并给出了相应的解决方法，仿真结果证实了该方法的可行性。
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