中文摘要：

车载导航中,使用无线测距与惯性导航系统（INS）组合定位,可有效改善系统定位精度。针对定位中全球卫星定位系统（GPS）失锁时,由INS长时间独立工作造成的定位误差,该文从理论上论证了用无线测距所得精确距离修正INS定位数据方案的可行性,给出组合定位具体原理,并分析了定位误差与INS误差的关系,从而用来改善定位精度。仿真结果表明此方案可有效提高定位精度。

英文摘要：

Combining wireless ranging and inertial navigation system（INS） can effectively improve the positioning precision for ground vehicle navigation system.In the case of long GPS signal blockages inherent,the positioning accuracy of independent INS is largely deteriorated.To overcome this limitation,this study theoretically demonstrates the feasibility of the scheme which corrects the INS positioning data by using the precise distance obtained from the wireless ranging.The integrated positioning principle has been presented and the relationship between the positioning error and INS error has also been analyzed to improve the positioning accuracy.The simulation results show that the propose scheme can improve the positioning accuracy effectively.