匹配算法对于重力辅助惯性导航系统的定位精度和效率有巨大影响。其中,TERCOM匹配算法由于原理简单、可靠性高而被广泛应用,但其只是通过刚性变换来纠正位置误差。针对TERCOM算法存在的此种问题,提出了带有旋转和尺度变换功能的改进TERCOM算法,旋转的角度和尺度变换的相关参数依据惯导的误差状况进行确定。实验结果表明,改进型TERCOM算法在相同的条件下匹配结果的精度要明显好于传统TERCOM算法,表明了改进TERCOM的优越性和可行性。 Matching algorithms have a huge impact on the positioning accuracy and efficiency of gravity-assisted inertial navigation systems. Among them, the TERCOM matching algorithm is widely used due to its simple principle and high reliability, but it only corrects the position error through the rigid transformation. Aiming at the problem of TERCOM algorithm, an improved TERCOM algorithm with rotation and scaling functions is proposed. The relevant parameters of rotation angle and scaling are determined according to the error condition of INS. The experimental results show that the accuracy of the improved TERCOM algorithm matching results under the same conditions is significantly better than the traditional TERCOM algorithm, indicating the superiority and feasibility of improving TERCOM.