This thesis introduces basic principle and composition of GPS and INS,infers the system error equations, gets the error mode, studies application ofkalman filtering in the INS/GPS integrated navigation system mainly.

• 本文介绍了 GPS 和 INS 的基本原理和组成,建立了组合导航系统误差模型,推导了惯性导航系统误差方程,主要研究了 INS/GPS 组合导航中卡尔曼滤波技术的应用问题。