As we know,a normal Kalman filter may behave badly or even diverge in case of the existence of bias between the system model parameters and the actual physical process.

• 由于组合导航系统模型参数往往与实际的物理过程具有一定的偏差，因此采用常规的卡尔曼滤波算法常会发生滤波发散现象。