基于单频伪距、伪距率GPS/INS紧组合导航系统

单频单系统型接收机的造价成本较低，为了迎合低成本的需求，并且解决在城市环境下因高楼大树遮挡导致全球卫星导航系统可见卫星数不足而无法定位的情况，本文设计了基于单频伪距、伪距率GPS/INS紧组合导航系统，详细推导了该组合导航系统的模型，并通过实验验证了当可见卫星数充足时，该系统的精度较高；当可见卫星数不足4颗时，该组合导航系统仍然可以有效的定位导航，满足一定的导航精度需求。

Tightly GPS/INS Integrated Navigation System Based on Single Frequency Pseudo-range and Its Rate

The cost of single-frequency and single system receiver is low. In order to meet the low cost requirements, and to solve the number of visible satellites are not enough which may cause positioning failure because of trees and high buildings in city environment. This paper designed the tightly GPS/INS integrated navigation system based on single-frequency pseudo-range and its rate. The model of the integrated navigation system is deduced in detail. The experimental results show that the accuracy of the system is high when the number of visible satellites is sufficient. And it is proved that the system can effectively position and navigate when the visible satellite is less than four, meeting a certain degree of navigation accuracy requirements.