很好的GPS/INS超紧组合导航的文章，关键词：GPS,INS，超紧组合导航，抗干扰-The performance of an Ultra-Tightly Coupled

(UTC) Global Positioning System/Inertial Navigation System

(GPS/INS) is evaluated using a system simulation of the GPS

receiver and navigation processing. The UTC system being

analyzed uses a bank of pre-filters to estimate code delay error

and Doppler frequency error for each satellite. These outputs are

sent to a central Kalman navigation filter. This central processor

generates estimates of inertial navigation position, velocity, and

attitude errors　IMU biases　and user clock errors, which are

used to correct the navigation solution. In the UTC approach,

outputs from the central navigation processor, after projection

into satellite line-of-sight coordinates, are used to control the

code and carrier replica signals for each satellite channel. In

contrast, a conventional tightly coupled GPS/INS system uses

separate tracking loops for each satellite channel, which operate

autonomously. As a result, the UTC desig