全球导航卫星系统GNSS和惯性导航系统INS都是目前世界上应用最为广泛的导航方法之一。组合导航利用二者较强的非相似性和互补性,将两者组合起来,可以取长补短充分发挥各自的优点。本文通过理论推导和仿真试验的手段,比较分析了有速度和无速度辅助时接收机跟踪环路的性能,计算及方真结果表明了GNSS接收机在有惯性速度辅助的情况下接收机的跟踪性能较无速度辅助时有了明显的提高,为工程应用奠定了理论基础。 GNSS and inertial navigation system INS are one of the most widely used navigation methods in the world at present. Combination of navigation using the two strong dissimilarity and complementarity, the two together, you can learn from each other to give full play to their advantages. In this paper, by means of theoretical derivation and simulation experiments, the performance of the receiver tracking loop with and without speed assistance is comparatively analyzed. The results show that the GNSS receiver tracking with the assistance of inertial speed The performance has been significantly improved compared to the speed-less auxiliary, which has laid a theoretical foundation for engineering application.