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本文介绍了GPS和工NS的基本原理和组成，建立了组合导航系统误差模型，推导了
惯性导航系统误差方程，主要研究了INS/GPs组合导航中卡尔曼滤波技术的应用问题。-This thesis introduces basic principle and composition of GPS and INS，
infers the system error equations，getstheerrormode，studiesaPPlicationof
Kalman filtering in
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利用kalman滤波实现行及跟踪，程序简单易于运行-Used to achieve line of kalman filtering and tracking, the program simple and easy-to-run
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kalman 滤波详细设计步骤及matlab代码实现-Kalman filtering detailed design steps and matlab code realization
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Satellite time synchronization algorithm, the use of MATLAB to prepare, including the clock model, Kalman filtering and model calculations
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Raya Punuo Fu index using the formula, The signal spectral analysis and filtering, Various kalman filter design.
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该程序基于MATLAB平台编写，实现了GPS/INS基于位置松组合的卡拉曼滤波算法，分为两部分，GPS_INS.m为组合算法主文件，输入捷联惯导平台实测数据，设置各量测噪声参数，在调用卡尔曼滤波函数进行数据融合校正，最后实现绘图功能；kalman_GPS_INS.m 为卡拉曼滤波程序，输入量测误差以及各噪声参数可得位置和速度估计值。(The program is based on MATLAB platform, and realizes the Kalman filtering algori
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