Based on UKF the precision of autonomous navigation was improved obviously.
利用UKF滤波定轨算法，明显提高了自主定轨的精度。
UKF is applied to nonlinear initial alignment of SINS on the stationary base.
将U KF方法应用于静基座对准，研究了非线性静基座对准问题。
However, it can be known that the parameters of UKF are important to the performance of estimate.
但是同时可知，良好的估计效果与ukf算法中各个参数的设置情况有重要的关系。
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