Adaptive Clock Error Model Applied in GPS/INS Tightly Integrated System

A new adaptive clock error model was put forward in order to determine the GPS error state model in GPS/INS tightly integrated system.The model parameters were adjusted adaptively according to the change law of GPS receiver clock error.In GPS/INS integrated navigation system,the simulation results which were compared with that of fixed parameters polynomial model show that the model in this paper the precision and reliability of integrated navigation system are effectively improved.