运用该方法，只要一套MISTRAM系统的跟踪数据，就能给出自由飞行段常值系统误差的估计。
Specially, by use of this method, we can give high precision estimation of system error only using the tracking data of a set of MISTRAM.
由仿真结果可以看出，它能较精确地估计陀螺常值漂移和航向角误差，为系统误差的校正提供了可信信息。
The simulation results show that the constant gyro drifts and the heading errors, which provide information for calibrating the system errors, can be estimated exactly.
研究了多传感器数据集成，实现了异常值探测、异常趋势识别、系统误差识别以及监测故障判别等功能。
Firstly, multi-sensor data integration is discussed and is applied to find out abnormal value, abnormal tendency, system error and monitoring default.
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