Secondly, analyzing the combination modes of MINS/GPS integrated navigation system, state equations and observation equations of combination of position/velocity and Pseudorange / Pseudo-deltarange are deducted.

• 其次,通过对MINS/GPS组合导航系统组合方式的分析,推导了位置、速度组合和伪距、伪距率组合的状态方程和量测方程。