The energy conservation equations in conventional inertial system and conventional terrestrial system are introduced.

介绍了惯性系和地固系下的能量守恒方程。

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For the inertial navigation system with model errors, there exists a large error in estimating a state using conventional Kalman filter, and it can even make the filter diverging.

对于有模型误差的惯导系统，采用常规卡尔曼滤波会导致较大的状态估计误差，甚至使滤波器发散。

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For the inertial navigation system with model errors, there exists a large error in estimating a state using conventional Kalman filter, and it can even make the filter diverging.

对于有模型误差的惯导系统，采用常规卡尔曼滤波会导致较大的状态估计误差，甚至使滤波器发散。

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