中文说明：
北航卡尔曼滤波与组合导航第二次作业 SINS静基座初始对准 1 分别建立静态及动态模型（模型可参考教程《GPS动态滤波的理论、方法及其应用（房建成 万德钧等）》），编写程序对静态和动态GPS数据进行Kalman滤波。 2 对比滤波前后导航轨迹图。 3 画出滤波过程中估计均方差（P阵对角线元素开根号）的变化趋势。 4 思考题： 1）简述动态模型与静态模型的区别与联系。 2）R阵、Q阵，P0阵的选取对滤波精度及收敛速度有何影响，取值时应注意什么。 3）本滤波问题是否可以用最小二乘方法解决，如果可以，请阐述最小二乘方法与Kalman滤波方法的优劣对比。
English Description：
The static and dynamic models of sins static base initial alignment 1 in the second operation of Beihang Kalman filter and integrated navigation are established respectively (the model can refer to the tutorial "theory, method and application of GPS dynamic filtering (Fang Jiancheng, Wan Dejun, etc.)), and the program is compiled to perform Kalman filtering on static and dynamic GPS data. 2. Compare the navigation trajectories before and after filtering. 3 draw the change trend of the estimated mean square error (the root of diagonal elements of P matrix) in the filtering process. 4 thinking questions: 1) briefly describe the difference and connection between dynamic model and static model. 2) What is the influence of the selection of R, Q and P0 matrices on the filtering accuracy and convergence rate, and what should be paid attention to when selecting the values. 3) Whether this filtering problem can be solved by least square method, if so, please elaborate the advantages and disadvantages of least square method and Kalman filtering method.