The invention discloses an SINS / GPS super-compact integrated
navigation system and an implementing method thereof. The method comprises the following steps: the
doppler frequency assistance is provided for a GPS carrier loop by using the velocity information of a strapdown
inertial navigation system, therefore, the loop equivalent bandwidth is increased, the influence of the carrier dynamic stateon the carrier loop is lowered, and the
noise suppression capability is improved by reducing the bandwidth of a filter; meanwhile, in order to eliminate the correlation between the pseudo-range rate error and the inertial
navigation error, a carrier loop
tracking error model is obtained by establishing the relationship between the carrier
tracking error and the inertial navigation speed error, andthe influence of the carrier
tracking error is subduced in the measurement equation; and in addition, the carrier frequency is adjusted according to the output error
estimation information, and the tracking accuracy of the carrier loop is enhanced. The invention can effectively enhance the
noise suppression capability and the dynamic tracking performance of the
tracking loop and enhance the tracking accuracy of a
GPS receiver and the navigation accuracy of the integrated
navigation system under strong interference and high dynamic circumstance.