结合地形辅助导航的特点 ,给出了一个快速的平方根矩阵分解公式 ,应用该公式的平方根滤波地形辅助导航系统 ,不仅可避免由计算机截尾误差的积累和传播使滤波协方差矩阵失去正定性而导致的滤波发散 ,而且还避免了通常对角化平方根分解中不可缺少的求矩阵特征根和特征向量 ,以及特征向量的正交化、单位化等繁琐的计算过程 Combined with the characteristics of terrain-assisted navigation, a fast square root factorization formula is given. Applying the square root of this formula to the terrain-aided navigation system can not only avoid the loss of positive definiteness of the filtered covariance matrix due to the accumulation and propagation of computer censored errors Resulting in the filtering divergence, but also avoids the usual diagonalization of the square root decomposition of the matrix eigenvectors and eigenvectors, as well as the eigenvector orthogonalization, uniting and other tedious calculations