The simulation results show that the sculling compensation term in the velocity integration algorithms can not be neglected for the high accuracy GFSINS in highly dynamic environments.
仿真结果表明，在高动态环境下，对划船误差的补偿提高了系统的速度解算精度。
The sculling error in the velocity calculation is described and sculling optimal compensation algorithms are derived.
分析了速度更新计算中划船误差的产生原理，详细推导了划船补偿算法并对该算法进行了优化。
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