In this paper, firstly, the key technology about attitude matrix algorithm is discussed, then the error model of low cost SINS is researched, the Global Positioning System is also studied.

• 本文首先对捷联惯性导航系统的姿态矩阵计算等关键技术进行了研究，然后对低成本的惯性系统误差模型进行了研究简化，同时对全球定位系统进行了研究。