中文说明：这是一个用matlab编写的接联惯性导航系统精对准阶段KALMAN滤波仿真程序的修正程序。解决了因系数矩阵条件数过大造成的滤波发散问题。
English Description：
This is a correction program of Kalman filter simulation program in fine alignment stage of inertial navigation system based on MATLAB. The problem of filter divergence caused by too large condition number of coefficient matrix is solved.