The diurnal constituents at some of the crossover points and all of the semi - diurnal constituents at all of the crossover points as well as 16 tidal gauge data are assimilated in the ocean model , this is because the assimilation of the diurnal constituents at some crossover points make the result worse . the improvement is 36 % for m2 , 54 % for s2 , 42 % for k , , 30 % for 01 compared with the results of dynamic model without assimilation . in the stratified ocean , mixing controls the intensity of the ocean current 为了克服交叉点上全日分潮精度较低的局限，文中主要将半日分潮同化进模式中，而全日分潮只在部分交叉点上进行了同化，同时同化了沿岸16个验潮站的调和常数，同化高度计资料和沿岸资料后， m _ 2 、 s _ 2 、 k _ 1 、 o _ 1四个主要分潮的结果精度分别提高36 、 48 、 20 、 12 。
Then this paper introduced the main method in multi - sensor integrated navigation - kalman filtering method , and a two - level optimization multi - sensor information fusion structure - combined filter which was originated by carlson and kerr , based on the structure of combined filter , it studied the method of navigating by the multi - sensor navigation system integrated by ins milemeter altimeter and piloting , then analyzed the effect of several filters . simulation proved that when altimeter were integrated , the height error was reduced a lot , and the combined filter is more effective than one - level kalman filter 然后，介绍了组合导航中的关键技术? ?卡尔曼滤波方法，以及一种二级最优多传感器融合结构? ? carlson , kerr等人提出的联合滤波器，并以联合滤波器的结构为基础研究了车载捷联惯导系统与里程计、气压高度计、地标组合导航的方法，比较了几种组合方法的效果。仿真结果表明，引入气压高度计可以有效的减小高度误差，二级联合滤波器的效果优于一级结构的卡尔曼滤波器。
