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中文摘要：
从滤波的关键矩阵——增益阵入手进行分析,发现机动条件下经典组合模型受状态预报模型不准的影响,姿态参数滤波估值及其更新方差阵偏离准确值,指出常用的姿态参数精度衡量指标不合理。提出了利用组合系统输出的载体系中某些方向速度为0的条件对姿态参数估值的准确性进行检验的思想。新的检验方法不需要增加任何额外设备,经济、方便、简单。
英文摘要：
By analyzing the gain matrix,we find that the general index for verifying the accuracy of the attitude parameter is not reasonable on maneuver condition because the attitude estimators,and their update covariance matrix are influenced by inaccurate predictors in classical Kalman filtering.A new verifying idea according to some components of the velocity vector in body frame equal zero in the GPS/INS system is proposed.The new method need not add the additional sensors,so it is economical,convenient and simple.
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