For the inertial navigation system with model errors, there exists a large error in estimating a state using conventional Kalman filter, and it can even make the filter diverging.

对于有模型误差的惯导系统，采用常规卡尔曼滤波会导致较大的状态估计误差，甚至使滤波器发散。

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This paper investigates the applications of the logic methodology to creative thinking activities. The three logical methods are reversed search, diverging search and model analogy.

本文考察了科学逻辑方法在创造性思维活动中的运用，这三种科学逻辑方法是反向求索法、发散求异法和模型类比法。

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