重点介绍了比力转换积分中存在的划船效应，对其进行了较为详细的分析和推导，同时提出了一种有效的划船修正算法并进行了仿真。仿真结果表明：谊算法可有效提高速度更新中比力的转换精度。

介绍了多传感组合导航系统的设计方法，从系统功能、硬件结构、数据处理算法和故障检测等方面全面深入研究了分布式多机系统、联合滤波算法以及基于多传感器冗余方案的故障检测和隔离算法。本文设计的多传感器组合导航系统方案合理，数据处理精度高。算法计算量小，可靠性高、具有较高的工程实用价值。

To Navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in AUV's study. The paper presents the basic composition and integration method of the AUV's navigation system using Extended Kalman Filtering (EKF) technique. In the specified application, GPS receiver, Strapdown INS and Doppler Velocity Log (DVL) are mounted aboard on the test vessel. The 3-day experiment was carried out in Songhua Lake, nearby Harbin City. The test results show that the system is able to achieve high precision, which is one meter approximately, with GPS and DVL working properly. Without GPS augmentation, which is the usual configuration for AUV application, accurate positioning and navigating results are still available, provided that the DVL satisfies its working requirements. Under this situation, a 3-meter precision could be reached. Besides the theoretical and experimental analysis of the integrated navigation system, the alignment technique in swing base is also discussed in detail.

Transport-related environmental problems continue to constitute a major challenge to policy makers at all levels. A key feature of these problems is that they arise from the interaction of human behavioral systems and physical systems. Thus, to improve our understanding of environmental and health problems associated with vehicle emissions it is necessary to combine data on both travel and traffic behavior with environmental data linked to the corresponding spatial and temporal variables. There are currently no such databases available. A new low-cost real-time device is currently under development utilizing the latest developments in environmental monitoring, navigation, communications, data mining and warehousing to capture spatio-temporally referenced data on vehicle and driver performance and the level of emissions and concentrations. Because of the need to acquire data in all environments, there are potential limitations in using a global satellite navigation system such as GPS to determine the spatial and temporal data in built-up areas. Therefore, an augmentation strategy involving differential GPS and new low-cost dead reckoning sensors utilizing micro-electromechanical systems technology has been explored. This paper presents a high-level description of the real-time vehicle performance and emissions monitoring system, and details the results of a study carried out to characterize the performance of stand-alone and augmented GPS, and assess whether the required navigation performance is achievable. The study characterized the performance of different types of stand-alone GPS receivers and GPS augmented with differential infrastructure and low-cost dead reckoning sensors. The performance indicators used were satellite visibility, coverage, accuracy and integrity. The results highlight the weaknesses and differences in performance, depending on the type of GPS receiver used and shows that, unlike GPS alone, an integrated system employing GPS and low-cost dead reckoning sensors is capable of meeting the required navigation performance in built-up areas. Furthermore, no significant difference in accuracy between standalone GPS and differential GPS has been seen.

该文研究了推算船位/罗兰C（GPS）组合导航系统的组合和推广的非线性卡尔曼滤波算法在试组合模式中的应用，详细推导了舰船运动的七状态教学模型及其机械编排。该文还给出了该组合系统在南海进行试验时的舰船轨迹及定位误差曲线，并进行了比较分析。结果表明：组合系统克服了推位系统的积累误差，抑制了罗兰C（GPS）的随机定位误差，有效地改善了导航定位精度，滹波方案正确，算法稳定。该组合系统已成功地装备于多种型号的舰船上。