重点介绍了比力转换积分中存在的划船效应，对其进行了较为详细的分析和推导，同时提出了一种有效的划船修正算法并进行了仿真。仿真结果表明：谊算法可有效提高速度更新中比力的转换精度。

本文设计了一种工时的动态GPS/INS组合模拟器，为测试GPS/INS组合系统考察组合系统性能提出供了一种多功能的实验设备。本文推导了GPS/INS模拟器的数学模型，谖模拟器，对本文提出的两种船用纵使方案做了比较，其中一种方案已经通过了1994年在南海进行的海上试验。实际应用表明，GPS/INS模拟器不同性能、不同工作状态下精度的GPS和惯导系统，具有较高的实用价值。

To Navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in AUV's study. The paper presents the basic composition and integration method of the AUV's navigation system using Extended Kalman Filtering (EKF) technique. In the specified application, GPS receiver, Strapdown INS and Doppler Velocity Log (DVL) are mounted aboard on the test vessel. The 3-day experiment was carried out in Songhua Lake, nearby Harbin City. The test results show that the system is able to achieve high precision, which is one meter approximately, with GPS and DVL working properly. Without GPS augmentation, which is the usual configuration for AUV application, accurate positioning and navigating results are still available, provided that the DVL satisfies its working requirements. Under this situation, a 3-meter precision could be reached. Besides the theoretical and experimental analysis of the integrated navigation system, the alignment technique in swing base is also discussed in detail.