中文摘要：

Honglei Qin was born in 1975. He received the M.S. degree from Harbin Institute of Technology in 1998, and the Ph.D. degree from Harbin Engineer- ing University in 2001. He is currently an associate professor in Beihang University. His research in- terests are satellite navigation, integrated navigation and automatic test system. E-mail： qhlmmm @ sina.com Corresponding author. Li Cong was born in 1981. She is currently a lec- turer in the School of Electronics and Information Engineering, Beihang University. Her research in- terests include satellite navigation, integrated navi- gation, and tactical navigation. E-mail： congli_hlj @ 163.com Xingli Sun was born in 1983. She is currently working towards the Ph.D. degree with the Depart- ment of Electronics and Information Engineering, Beihang University. Her current research interests are integrated navigation and satellite navigation. E-mail： sunxingli123 @ yahoo.com.cn