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.

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近似同步法还提供了一个用基于系统辨识的矩阵反演定理导出的误差校正公式，它能消除近似同步采样造成的原始误差。

ASM also provides an error correction formula deduced from matrix inversion theorem to clear up the error originated from approximate synchronous sampling.

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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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