GPS/INS INTEGRATED NAVIGATION BASED ON PHASE SMOOTHING PSEUDORANGE
基于载波相位平滑伪距技术的GPS/INS组合导航

The phase smoothing code method is introduced into the GPS/INS tight integration.It could improve the navigation accuracy without the reference station and the kinematic real-time ambiguity resolution.Through the calculation of a sample,it is shown when cycle slip occurs few times during a period,the method of phase smoothing code can improve the accuracy of GPS/INS integration greatly,but if cycle slip occurs many times then the accuracy of GPS/INS integration will be improved slightly.