An integrated system was established utilizing pseudo range, pseudo range rate and Doppler velocity. We construct the Kalman filter equation, design the flying profile, and then simulated the integrated system when the IMU performance is low.

• 采用GPS伪距、伪距率以及Doppler速度与INS组合 ,建立了其卡尔曼滤波方程 ,设计了飞行轨迹 ,给出了惯性元件精度较低时组合系统的仿真输出。