Firstly, the paper introduced the basic theory and characteristics of the Strapdown Inertial Navigation System (SINS), the GPS, and the DVL system.

• 论文首先介绍了捷联式惯性导航系统、GPS导航系统和多普勒计程仪的基本原理及各自特点，并建立了捷联惯性导航系统的非线性误差模型。