本文是关于GPS-INS深度组合的文章，系统的介绍了深度组合的原理，并进行了仿真。-This article is an article on the GPS-INS depth combinations, systematic introduction to the depth of portfolio theory, and simulation.

GPS的伪距、伪距率和惯导进行紧组合的仿真程序，里面包含实际采集的数据和仿真程序，可以直接运行，对于开发人员很有帮助-GPS pseudorange, pseudorange rate and the INS for tight combination of the simulation program, which contains the actual collection of data and the simulation program can be run directly usef