论文阅读一

　　This method is based on the principle of trajectory matching,
where the angle between the true vehicle trajectory and the
INS-indicated trajectory in the horizontal direction precisely
denotes the initial heading error.

 

　　As a direct application of this principle requires high-precision GNSS positioning, which is
difficult to achieve, the proposed method projected this principle
to the line-of-sight direction of satellites, which implies that
the angle can be obtained by comparing the actual observed
time-differenced carrier phase (TDCP) and INS-indicated TDCP.