中文摘要：

从惯性导航系统误差理论分析出发,分析长航时、欠校准条件下ESGM和无阻尼RLG-SINS的误差规律,提出一种ESGM/RLG-SINS组合导航方法.该方法分别采用导航误差合成、ESGM的机动误差识别和导航误差实时补偿等技术手段.为验证方法的有效性,开展为期30 d的半实物仿真试验.结果表明：该组合导航方法可消除因海上校准机动给ESGM导航带来误差造成的影响、经度方向上的线性积累误差、大部分地球周期误差以及纬度方向上的地球周期误差,可显著提高组合导航精度,具有较高的工程应用价值.

英文摘要：

The error of ESGM and un-damped RLG-SINS under the long trip and deficient calibration condition is analyzed, and the ESGM/RLG-SINS integrated inertial navigation method is proposed, which distinguishes the maneuvering error of ESGM and achieves real time error compensation. This inertial navigation method was verified by a 30 day semi-physical simulation test. The simulation result shows that this method can eliminate the influence of calibration maneuvering to ES- GM error, and effectively reduce the longitudinal cumulative error and latitudinal earth period error and other earth period errors. This inertial navigation method is useful in improving the precision of navigation under practical conditions.