Direct Kalman Filtering Approach for GPS INS 新兴的直接卡尔曼滤波算法与用于组合导航，较传统的卡尔曼滤波有所突破和改进-Direct Kalman Filtering Approach for GPS INS

状态卡方检验法主要是通过卡尔曼滤波器的状态来估计系统是否故障。，该程序是GPS/INS的组合。-Status chi-square test method is mainly through state Kalman filter to estimate the system malfunctions. The program is a combination of GPS/INS' s.