在GPS软件接收机和SINS辅助GPS跟踪技术的基础上,提出了一种SINS/GPS超紧致组合导航方案。该超紧致方案在GPS软件接收机的捕获环节中加入了基于相位估计的精细捕获算法,从而提高了频率捕获精度,省略了频率跟踪牵引过程 在信号跟踪环节中,利用SINS位置、速度信息与卫星参数,求取接收机与卫星之间的径向距离和径向距离率,为码环、载波环提供辅助,从而降低了载体动态变化对跟踪环的影响,提高了跟踪环的动态跟踪性能 同时,降低载波环噪声带宽,减小码环相关间隔,从而提高了载波环和码环的跟踪精度。-On the basis of the software GPS receiver and SINS assisted GPS tracking technology, ultra-compact combination of an SINS/GPS navigation scheme. The Super Compact program was added in the capture of the GPS receiver software link based the phase estimate Narrow capture algorithm, thereby improving the accuracy of frequency acquisition, frequency tracking traction process is omitted　signal tracking link SINS position, speed information and satellite parameters, to strike a radial distance between the receiver and satellite and the radial distance rate, to provide auxiliary code loop, carrier loop and thereby reducing the influence of the carrier dynamic changes of the tracking loop, and to improve the dynamic tracking of the tracking loop performance　while reducing the noise bandwidth of the carrier loop, to reduce the code ring associated interval, thereby improving the accuracy of the tracking of the carrier ring and the code ring.