By simulating positions data from ship, and compared with the GPS data, the results show that the method can improve the estimate precision of Kalman filter effectively, and make the ship course smoother.

• 通过对实测船位数据的仿真,并与gps船位数据比对,证明该方法有效地提高了卡尔曼滤波的估计精度,也使航行曲线更加地“光滑”。