本文研究一种适用于为大起始位置误差飞行器定位的卡尔曼滤波地形辅助制导系统。并行滤波体制是位置误差允许范围得以扩大的基础。针对其中正确估计的判决和计算的实时性问题,文中提出一种降阶系统模型和对此模型的自适应判决方法。最后,对如何进一步提高系统的收敛速度进行了分析,并得到了有意义的结果。 In this paper, a Kalman filtering terrain-aided guidance system suitable for positioning a large initial position error aircraft is studied. The parallel filtering system is the basis of the extended allowable range of position error. In view of the real-time problem of the correctly estimated judgment and calculation, a reduced-order system model and an adaptive decision-making method for the model are proposed. Finally, how to further improve the convergence rate of the system is analyzed, and the meaningful results are obtained.