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中文摘要：
给出了基于载波相位平滑伪距技术的GPS/INS组合导航的公式并进行了误差分析。用算例对该算法进行验证，结果表明：如果GPS周跳较少或不发生周跳，基于载波相位平滑伪距技术的GPS/INS组合导航的精度较伪距紧组合导航有较大的提高；反之，精度提高不显著。
英文摘要：
The phase smoothing code method is introduced into the GPS/INS tight integration. It could improve the navigation accuracy without the reference station and the kinematic real-time ambiguity resolution. Through the calculation of a sample, it is shown when cycle slip occurs few times during a period, the method of phase smoothing code can improve the accuracy of GPS/INS integration greatly, but if cycle slip occurs many times then the accuracy of GPS/INS integration will be improved slightly.
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