Abstract
In order to improve the performance of low precision INS/GPS integrated navigation system, an effective algorithm of INS-assisted GPS tightly coupled navigation based on EKF was used,which uses the acceleration and angular velocity information measured by INS to estimate the pseudorange and pseudorange rate error measured by GPS, this error is treated as the measurement information of EKF, and uses the corrected INS information to assist the tracking loop of GPS receiver. This method can effectively improve the acquisition and tracking ability of GPS and improve the performance of integrated navigation system in complex environment.
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