采用卡尔曼滤波技术进行地形辅助导航是提高导航精度的方法之一。卡尔曼滤波理论上要求事先了解系统误差的统计特征,在实际课题的应用中这一要求往往不能满足。文中结合地形辅助导航的应用背景,给出了系统误差最重要的统计特征———协方差矩阵Q的一种模拟方法,在实际应用中效果良好 The use of Kalman filter technology for terrain-aided navigation is one of the methods to improve navigation accuracy. Kalman filter theoretically requires prior understanding of the statistical characteristics of systematic errors, which are often not satisfied in practical applications. Combining with the application background of terrain-assisted navigation, a statistical method of covariance matrix Q, which is the most important statistical characteristic of system error, is given, and it works well in practical application