The state equation and error analysis of SINS combined with globe positioning system (GPS) and Doppler navigation system (DNS) were also presented. The simulation in certain condition was made.

• 给出了SINS与全球卫星定位系统(GPS)、多普勒导航系统(DNS)组合导航系统的状态方程和误差分析,在给定条件下进行了仿真试验。