GNSS／INS 深组合导航技术研究进展

深组合导航以精度高、抗干扰性强等优势在军事、民用领域具有广泛应用前景。本文分析了松组合导航、紧组合导航与深组合导航的结构，指出了深组合与传统模式的区别。依照信息处理方法的不同，将深组合导航分为四种模式，分析了不同深组合模式的结构和技术特性及研究成果，总结了深组合技术研究趋势，对进一步深入研究深组合导航技术具有借鉴意义。

Development of the Research of GNSS/INS Deep Integration Navigation Technology

Deep integration navigation with high precision and strong anti-interference has wide applications in military and civil fields .This paper analyzes the architecture of loose integration ,tight integration and deep integration and points out the difference between deep integration and traditional modes .According to the different methods of information process-ing ,deep integration navigation can be divided into four modes ,and this paper analyzes the architecture and technical characteristics of different deep integration modes .Summarizing the trends of the research of deep integration technology and providing valuable reference for further study of GNSS/INS deep integration navigation technology .