【摘要】 首先建立起捷联惯导系统（ＳＩＮＳ）与全球定位系统（ＧＰＳ）相组合系统的数学模型，从研究ＳＩＮＳ／ＧＰＳ组合系统的可观测性出发，通过理论分析得出了组合系统姿态角误差可观测性很差的结论，并给出使可观测阵满秩的条件．对３种飞行条件所做仿真分析验证了理论分析的正确性更多还原

【Abstract】 The mathematical model of the integrated system of Strapdown Inertial Navigation System(SINS) and Global Positioning System(GPS) has been set up at first. Then, based on the observability of SINS/GPS integrated system it has been concluded that the observability of the attitude errors of the integrated system is very poor, and the nonsingular condition of the obervability matrix has been given by means of the theoretical analysis. Afterwards, the correctness of the theoretical analysis has been verified by the simulating analyses of three cases of flight conditions.更多还原