The PADS presented is entirely autonomous, not reliable to GPS and ZUPT, and the system has high accuracy, fast reaction and high reliability.

该定位定向系统不依靠GPS，中途无须停车作零速修正，是一种全自主的导航系统，具有定位定向精度高、机动性好、可靠性高和寿命长等优点。

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In the improved filter estimation method, the decoupled state and bias estimation technology is introduced to estimate gyro constant bias during ZUPT.

改进的滤波估计法引入偏差去耦技术在零速校正期间估计出陀螺漂移，并利用速度信息快速估计出方位误差角。

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