The Doppler velocity that was transformed from the body-fixed coordinates to the geographical coordinates included the influence of the heading error,so the heading error could be solved with GPS velocity aided.

• 经过坐标转换得到的Doppler速度中包含了惯导系统航向误差的影响,可以考虑以GPS速度为基准信息,从Doppler速度中解算航向误差。