During a transfer alignment of strapdown inertial navigation system, Kalman filter models are linear time varying system whose analysis of observability is difficult.

Accurate models and noise statistics are required in many tracking algorithms based on the traditional Kalman filter, which are difficult to be satisfied in engineering application.

Kalman filter of the kind of equations was calculated with T-SFIMMA algorithm based on adaptive Kalman filter algorithm of T-S fuzzy model, realize the tracking and automatic switchover of models.