针对具有高斯噪声的非线性随机系统状态估计问题 ,提出了一种基于分段常值的贝叶斯状态估计滤波算法 .本文对此种滤波算法的误差进行了分析 .并且对地形辅助导航定位系统的应用进行了仿真 ,仿真结果表明基于分段常值的贝叶斯状态估计滤波算法是一种鲁棒性很强的滤波算法 Aiming at the problem of state estimation of nonlinear stochastic systems with Gaussian noise, a Bayesian state estimation filtering algorithm based on piecewise constant values ​​is proposed. The error of this filtering algorithm is analyzed in this paper. The simulation results show that the Bayesian state estimation filter algorithm based on piecewise constant is a very robust filtering algorithm