【摘要】 从泰勒公式及函数矩阵的基本定义出发，推导了考虑位置误差相关项时，GPS/SINS组合导航系统精确的伪距率观测数学模型。仿真结果表明，使用精确伪距率观测模型的伪距、伪距率交替组合导航系统，其位置误差能更好地跟踪GPS系统位置几何误差系数，能更真实地反映载体的短期位置误差，更适用于对航天器或大气飞行器短期位置导航精度要求较高的场合（如把航天飞机或大气飞行器作为高分辨率合成孔径雷达等遥感器的载体）。更多还原

【Abstract】 According to the basic definition of Taylor series and function matrix, this paper derives the precise mathematics model of pseudorange rate measurement in GPS/SINS integrat-ed navigation system. The simulation results show that the position error of integrated system using this model is more correlative with the GDOP (Geometric Dilution of Precision) of GPS System than that using simple model. So it is useful in some systems such as synthetic aperture radar on board sparecraft or airplane where the instantaneous position accuracy of the vehicle is very important.更多还原