And on this basis, data alamangation arithmetic is adopted for higher precision.At the same time control of error scattering is done in decd reckoning model.

• 在此基础之上进一步引入数据融合算法以提高定位精度，同时控制航位推算系统的误差发散，从而大大增强了组合定位系统的可靠性和可行性。