According to the characteristics of error model of INS without damping, an integrated INS/CNS/Doppler navigation system for aeronautic field is designed, and the Kalman filtering model for the system is built up.

• 针对无阻尼惯导系统的误差特点,设计了适合航空应用的惯性(INS)/天文(CNS)/Doppler组合导航系统,建立了该组合导航系统卡尔曼滤波模型。