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中文摘要：
以GPS／INS组合导航系统为应用背景，推导了“当前统计”模型下卡尔曼滤波方程的关键矩阵。阐述了卡尔曼滤波器的主要参数对组合导航信息融合效果的影响；给出了组合导航系统的松耦合设计框图；根据实验测得的数据采用基于卡尔曼滤波的信息融合算法，通过对算法改进前后东向误差和北向误差的分析，说明算法改进后的定位精度比改进前高约30％．
英文摘要：
Based on the GPS/INS integrated navigation system, key matrix of Kalman filtering equa- tion on the kinematics model is deduced in detail. The effect which the key parameters of Kalman filtering bring to information fusion is analyzed qualitatively. The structure of loose integration is also given. According to the test data, the fusion algorithm based on Kalman filter is applied. Compared to the original algorithm in erroneous north and east directions, the orientation precision is improved by about 30 percents.
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