本文提出了削弱传感器噪声的一些方法。
实际应用当中，陀螺仪传感器噪声和漂移会产生致命错误，必须被补偿矫正。
In practice, gyroscope noise and drift will introduce errors that need to be compensated for.
试验结果表明，当传感器噪声的均方根小于10米时，TERCOM算法可以获得大于90%的 匹配概率，SITAN算法也可以达到60~70米的CEP圆概率 误差。
The result shows that when the mean root square of sensor noise is less than 10m, TERCOM algorithm can achieve matching probability of 90%, while the CEP of SITAN is 60~70 meters.
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