中文摘要：

针对战场环境下GPS信号易被欺骗干扰的缺点，提出了一种基于加权估计的紧组合导航滤波算法。该算法通过采用加权最小二乘算法先对GPS欺骗信号进行预估计，然后将得到的估计状态量和误差方差阵引入到紧组合导航滤波模型中，从而提高GPS接收机抗欺骗能力。仿真表明，加权估计与紧组合结合的方法在转发式欺骗干扰的情况下，具有定位测速精度高、鲁棒性强的特点。这种方法容易实现，预测可靠，具有实际应用价值。

英文摘要：

Aiming at the problem that the GPS signal is easy to be spoofed and disturbed in battlefield environment, a flit- tering algorithm of tightly integrated navigation system based on weighted-estimate is proposed. The algorithm estimates the GPS deceive signal firstly by using weighted least square algorithm, then introduces the obtained estimated state quantities and error variance matrix into the integrated navigation model to improve anti-spoofing ability of GPS receiver. The simulation results show that in the retransmitted deception jamming condition, the method based on the combination of weighted estimation and tightly integrated navigation system has the characteristics of high positioning accuracy and strong robustness. The method is easy to realize, and the prediction is reliable, so it has practical application value.