The deep integration of pseudorange,delta range,double differenced carrier phase with inertial system are completed by using delayed state kalman filter in the paper.
利用滞后状态卡尔曼滤波将伪距、伪距增量以及载波相位双差同INS进行了深组合,仿真结果表明该组合导航系统不仅精度高,而且对解决惯导的对准问题具有突出的作用。
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