This paper starts with the error model of sins , studies deeply for the demand of gyrocompass theory , and builds an initial alignment mathematics model , then design the arithmetic and control flow , following the initial alignment mathematics model , chose the control parameters properly , following the auto control theory 理论上,由捷联式惯导系统误差模型开始,结合罗经对准原理,建立罗经对准数学模型。在此基础上,设计算法和控制流程,并依据控制理论选择适当的控制参数。
The thesis analyse the error and the feasibility of the system . because the precision of position and direction is related with the precision of the heading and the distance , the thesis discuss the method of obtaining the distance using milemeter , water milemeten engine ' s rotate speed and accelerometer , and the method of obtaining the heading using the combination of the gyrocompass and the digital compass . then the thesis introduce the details of the system realization , include the hardware and the software 由于航位推算的精度与航程和航向的精度直接相关，因此，论文讨论了用里程计、水速表、引擎转速或加速度计等获取里程的方法，用航向保持器和数字磁罗盘组合的方法获取航向角的方法(初始寻北由数字磁罗盘来完成) ，这为采用数据融合方法提高航程和航向精度打下了基础。
La dead reckoning algorithm has been developed based on the doppler velocity log ( dvl ) and fiber optic gyrocompass . 2 . since the basic kalman filter will become lapsed , strong tracking filter theory has been inducted , and a new strong adaptive kalman filter algorithm has been developed . further more an adjust gene has been imported , and gets a new arithmetic 针对传统的卡尔曼滤波算法中由于噪声统计特性未知而容易引起的滤波发散的缺点，引入强跟踪滤波理论，提出了带次优渐消因子的扩展卡尔曼滤波算法，并进一步对该算法进行改善，加入了调整因子，使滤波算法得到较好的改善。
