It is found that the displacement input model is more accurate than the generally used acceleration input model, given the same direct integration method and time step.

数值计算结果表明，若采用相同的数值积分方法和积分步长，位移输入模型可获得比加速度输入模型更高的计算精度。

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Because the real input acceleration can not be obtained during the error model identification of the inertial navigation platform, so the measurement value is used to substitute the input data.

在进行惯导平台误差模型辨识的过程中，真实的输入加速度难以获得，因此不得不使用测量值来代替，这使得输入输出观测数据中均含有测量噪声。

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