建立在慣性原理基礎上的慣性導航系統不需要任何外來信息，也不會向外輻射任何信息，僅靠慣性導航系統本身就能全在天候條件下在全球范圍內和任何介質環境里自主地隱蔽地進行連續的三維定位和定向；但它也存在誤差隨時間積累的缺點。而GPS 導航系統能提供長時間的高精度定位；但存在1 HZ 慢速數據修正速率的缺陷。本文研究二者互補的組合導航系統，建立了組合導航的軟件和硬件模型，并提出了基于卡爾曼濾波的導航實現算法。
關鍵詞：GPS INS 組合導航 數據同步 卡爾曼濾波

Abstract: The navigation systems built on the principle of inertia on the basis of inertial do not require any external information, as well as any information not in a position to radiation alone inertial navigation system itself will be wholly under the weather conditions at the global level , and any independent media environment to covertly conduct continuous three-dimensional positioning and orientation, but it also exists flaw with the passage of time accumulated shortcomings. The GPS navigation system can provide long time precision positioning, but its existence 1HZ slow rate of data updating; the combination systems
more and more used in the navigation industry.
Key words: GPS INS Combined navigation Data synchronization