中文摘要：

GPS/SINS组合导航系统的观测模型直接关系着导航系统的精度。提出了一种基于双差伪距/伪距率的GPS/SINS紧组合观测模型。分析了采用双差伪距和采用双差伪距/伪距率两种观测模型对组合导航输出参数精度的影响。实测数据结果表明,采用双差伪距和采用双差伪距/伪距率作为观测值均能实现组合导航系统的收敛。引入双差伪距率观测值明显改善了系统的可观测性,不仅提高了组合导航中速度和姿态角的估计精度,也加快了速度误差和姿态角误差估计的收敛速度。

英文摘要：

GPS/SINStightly-coupled integration generally performs better than loosely coupled integration because they can get a navigation solution even if the number of GPS satellites is less than four.In order to improve the performance of GPS/SINS tightly-coupled integration,the measurement model of tightly-coupled GPS/INS based on double-difference pseudo-range/pseudo-range rate was proposed.The model based on double-difference pseudo-range was compared with the one based on both double-difference pseudo-range and double-difference pseudo-range rate The actual test shows that the two models can deal with the tightly-coupled integrated navigation.The accuracy of estimation and the convergent time of velocity and attitude error are improved by introducing double-difference pseudo-range rate.