Thirdly, the robust control theory and robust filter is expatiated. And the robust filter of the SINS/GPS/DVL integrated navigation system is designed.

• 接着阐述了鲁棒控制理论和鲁棒滤波的相关内容，完成了SINS/GPs/DVL组合导航系统的鲁棒滤波器的设计。