战车用惯性定位定向系统由于采用双轴陀螺平台结构，不可避免地存在着支架误差，从而影响系统航向精度。

The inertial system of fighting vehicle existed bracket error due to its two-axis gyro platform structure, and this could influence the heading precision.

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通过和最小均方误差估计算法(MMSE)相比较，变门限聚类定位算法可有效消除低质量数据对定位结果的影响，从而提高了目标的定位精度。

By eliminating the possible influence produced by low quality data, the presented algorithm can improve localization precision effectively in comparison with the MMSE algorithm.

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但是EKF的线性化会带来截断误差，从而影响系统定位精度。

However, the linearization of EKF causes error which influences the accuracy of the system.

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