Because of the poor observability of INS on stationary base, the estimation of the azimuth error will converge very slowly in initial alignment by means of Kalman filter.

• 由于惯导系统静基座对准时的可观测性很差，将卡尔曼滤波器用于解决惯导系统的初始对准问题时，方位失准角收敛很慢。