本文将状态与偏差解耦卡尔曼滤波器应用于动基座对准中，根据舰载导弹动基座对准的特点，引入闭环，即在滤波过程中周期性地将滤波值补偿姿态失调角、速度误差和惯性元件误差。仿真结果表明，该方法能使收敛速度加快，估计精度提高，滤波值的振荡幅度减小。 In this paper, the state and deviation decoupling Kalman filter is applied to the moving base alignment. According to the characteristics of the carrier-based missile moving base alignment, a closed loop is introduced, that is, the filter value is periodically compensated for the attitude misalignment angle , Speed ​​error and inertial element error. The simulation results show that this method can accelerate the convergence rate, improve the estimation accuracy and reduce the oscillation amplitude of the filter value.