The EPF was used to estimate the INS alignment on stationary base, and the simulation result was compared with that of EKF.

• 随后,给出了一种将EKF算法作为重要性函数的EPF算法,并提出将其用于静基座条件下的惯导系统非线性初始对准,通过计算机仿真对比了EPF和EKF的估计效果。