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中文摘要：
动态导航与定位的质量取决于对动态载体扰动和观测异常扰动的认知和控制。本文首先分析了渐消滤波的理论背景和基本原则；基于其基本原则，推导了渐消滤波解；然后从理论模型、极值原则全面分析了渐消滤波理论存在的问题。分析认为，理论上，渐消滤波具有控制状态模型误差影响的能力；现有渐消因子的求解在实践中可能出现负定现象，求解时必须附加条件。
英文摘要：
The quality of kinematic navigation and positioning lies on the quality of the measurement outliers detecting and the kinematic model error controlling, Firstly the principle of fading filtering is introduced and based on which the estimators are derived. Then the shortcomings of the fading filter are analyzed, By introducing some existing fading factors, we point out that the fading filter can control the kinematic model error influence in theory; the existing fading factors may exist some problems in calculation and some special strategies should be applied in practice.
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