The experiment data of GPS/INS integrated navigation system as well as main error source of inertial parts has been analyzed.
利用了一种管道地理位置测量的有效方法，即GPS/INS组合导航系统，对组合导航系统的实验数据进行了分析。
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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