The GPS integer ambiguity estimates, the navigation parameter estimates and their variance-covariance matrix are derived by using Markovian estimation.
利用马尔柯夫估计，推导了GPS整周模糊度估计矢量和导航定位参数估计矢量的表达式，以及相应的协方差矩阵；
Primary filter accomplishes the fusion of public state vectors about sub filters and time updating, and outputs the credible, precise and optimal estimation of navigation parameter error.
主滤波器(全局滤波器)进行子滤波器的公共状态矢量融合和时间更新，输出可靠、准确的导航参数误差的全局最优估计量。
A navigation method that the in method is principal and the CN method is subordinate is presented. The calculation model of navigation standard parameter and navigation parameter is deduced.
提出了以惯性导航为主、天文导航为辅的一种导航方法，推导出该方法对应的导航基准参数计算模型、导航参数计算模型及天文导航系统的横向导引方程。
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