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。

该文研究了推算船位/罗兰C（GPS）组合导航系统的组合和推广的非线性卡尔曼滤波算法在试组合模式中的应用，详细推导了舰船运动的七状态教学模型及其机械编排。该文还给出了该组合系统在南海进行试验时的舰船轨迹及定位误差曲线，并进行了比较分析。结果表明：组合系统克服了推位系统的积累误差，抑制了罗兰C（GPS）的随机定位误差，有效地改善了导航定位精度，滹波方案正确，算法稳定。该组合系统已成功地装备于多种型号的舰船上。

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。

介绍了多传感组合导航系统的设计方法，从系统功能、硬件结构、数据处理算法和故障检测等方面全面深入研究了分布式多机系统、联合滤波算法以及基于多传感器冗余方案的故障检测和隔离算法。本文设计的多传感器组合导航系统方案合理，数据处理精度高。算法计算量小，可靠性高、具有较高的工程实用价值。

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.