[2] [2] Cheng J， Zou J， Wu L， et al. The design of an effective marine inertial navigation system scheme［C］. First International Workshop on Knowledge Discovery and Data Mining， 2008： 671-676.

[6] [6] AV Chernodarov. Adaptive robust damping of divergent oscillations in updatable inertial systems［C］. Control of Oscillations and Chaos， 2000(V1)： 133-134.

[8] [8] Schwenk， Vernon Leon. Alorithms for Kalman filters with delayed state measurements［R］. Ames： Lowa State University， 1974： 1-80.