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建立了伪距和载波相位相结合的ＤＧＰＳ／ＩＮＳ组合系统的状态方程和量测方程，并用滞后状态卡尔曼滤波对伪距和载波相位相结合的ＤＧＰＳ／ＩＮＳ组合系统进行了组合及仿真，给出了详细的仿真数据和仿真曲线。仿真结果表明，该组合系统的精度得到了进一步提高，这是提高导航精度的有效途径，对各种载体的精确导航与制导具有一定的现实意义。
The state equation and measurement equation of DGPS / INS combination system combining pseudorange and carrier phase are established. The DGPS / INS combination system combining pseudorange and carrier phase is combined and simulated by lag state Kalman filter. Out of the detailed simulation data and simulation curve. The simulation results show that the precision of the combined system is further improved, which is an effective way to improve the navigation accuracy and has certain practical significance for the precise navigation and guidance of various carriers.