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为了研究ＧＰＳ（ＧｌｏｂａｌＰｏｓｉｔｉｏｎｉｎｇＳｙｓｔｅｍ）／ＩＮＳ（ＩｎｅｒｔｉａｌｎａｖｉｇａｔｉｏｎＳｙｓｔｅｍ）组合导航系统的性能，利用跑车实验实时采集的惯性导航系统和ＧＰＳ的数据进行了测后仿真研究．分别进行了ＧＰＳ／ＩＮＳ位置、速度组合和伪距、伪距率组合仿真，仿真中组合Ｋａｌｍａｎ滤波器采用数值稳定性较好的ＵＤ分解算法．最后给出了纯惯导及组合后系统的位置、速度误差仿真曲线，结果分析及相关结论
In order to study the performance of Integrated Positioning System (GPS) / INS (Integrated Navigation System) navigation system, a post-simulation study was carried out by using inertial navigation system and GPS data acquired by sports car experiment in real time. The combination of GPS / INS position, speed combination and pseudorange and pseudo-range ratio are respectively carried out. The combined Kalman filter in the simulation adopts the U-D decomposition algorithm with good numerical stability. Finally, the simulation curves of the position and speed error of the pure INS and the combined system are given, the result analysis and related conclusions