A revising method is proposed,in which the velocity of Doppler velocity log(DVL) is used to aid the alignment of strap-down inertial navigation system with DVL and the integrated navigation based Kalman filter.

• 提出了利用多普勒测速仪辅助捷联惯导系统动基座对准以及基于卡尔曼滤波的组合导航方案；并对该导航方案水上实验的结果进行了分析.