The integrated system of GPS and strapdown inertial navigation system (SINS) is one of the effective ways to realize continuous and accurate positioning, especially the ultra-tight integration of GPS and SINS, which has played a significant role in the weak signal and high dynamic environments. In this paper, the ultra-tight integrated structures based on I and Q signal data fusion and inertial information aiding are analyzed respectively. Based on the analysis of inertial information aiding structure derivation, the state equations and measurement equations in the coupled filter are studied. Utilizing the relations between centralized filters and federated filers, the equivalence of different ultra-tight coupled navigation structures is proved. Simulation results indicate that the position errors are similar with different methods in the same initial conditions.%GPS和SINS的组合导航系统是实现连续、准确定位的有效方式之一,尤其二者的超紧组合导航方式,在解决GPS接收机的抗干扰和抗动态性能方面效果显著.分别针对基于GPS的I、Q信号层次数据融合的超紧组合结构和惯性信息辅助的超紧组合结构进行分析,在将惯性信息辅助结构演化为联邦形式的组合结构的基础上,对涉及其中的不同组合滤波的状态方程和量测方程深入研究.利用集成和联邦卡尔曼滤波器之间的关系,完成不同超紧框架的趋同等价性证明.仿真结果初步表明,相同初始条件下不同组合方法在定位精度方面具有一致性.
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