很好的GPS/INS超紧组合导航的文章，关键词：GPS,INS，超紧组合导航，抗干扰-The performance of an Ultra-Tightly Coupled (UTC) Global Positioning System/Inertial Navigation System (GPS/INS) is evaluated using a system simulation of the GPS receiver and navigation processing.

gps卫星坐标计算，用以确定卫星的具体位置坐标-GPS satellite coordinates, to determine the specific location of the satellite coordinates