Aiming at the problem of large amount of calculation and inconvenience of parameter ad-justment when the traditional Monte Carlo simulation method is used in inertial navigation error a-nalysis,a method of inertial navigation error covariance analysis using Kalman filter state mean square error prediction formula combined with inertial navigation error propagation equation is proposed.The new method decomposes the navigation error into linear combinations of various er-ror factors.The error factors are independent of each other,and the error calculation and parame-ter adjustment are very simple and convenient.Taking an in-field measured trajectory as an exam-ple,the proposed covariance analysis method is used to decompose the error and the results are visually display in various forms,which shows the advantages of the new method in error distribu-tion analysis and navigation precision evaluation.
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