G..I. Emelyantsev, Cai Tijing, On observability of IMU “Eastern” Drift during Vessel Special Maneuvers, Gyroscopy and Na汪风林，蔡体菁，速率方位惯性平台/重力匹配组合导航系统，仪器仪表学报（中国）2005，第4期增刊。
We argue that this is due to the partial mutual observability between the team members.我们认为这是由于团队成员间的相互可观测性引起的。