Abstract: In this paper, a single epoch GPS ambiguity resolution is proposed. Then based on it and using the INS indirect error model, a new method, using Kalman filtering to process the new combination of GPS double-difference carrier phase and Doppler/INS integrated data, is presented. The exterior orientation elements of airborne three-line-scanner can be accurately calculated directly based this method. The experiment used simulated data proved that the precision of attitude is higher than 10 arc second and the precision of position is higher than 10cm.