在用调平方法实现水平姿态角的对准过程中，通过不同的参数设计可实现不同阶段的对准功能。
In the horizontal alignment by leveling method, the alignments of different stages are realized by different designs of parameters.
小失准角情况的惯导快速匹配对准方法研究已经比较成熟，在快速性和精度方面达到了使用要求。
The rapid matching alignment method of the inertial navigation system(INS) for the small misalignment had already been more mature, and had met the requirements from rapid and accuracy.
模块的组成、功能，详细说明了姿态角的计算、初始对准以及采用的稳定、实时、变增益自适应扩展卡尔曼滤波估计算法。
Attitude calculation techniques, initial alignment methods and a real-time adaptive extended Kalman filter used for improve the system precision were discussed.
应用推荐