GPS/DR Original Observation Integrated Navigation and Positioning

Based on the navigation theory of GPS/DR integrated system,a Kalman filtering model,which integrates the GPS original observation and dead-reckoning information,was presented.Then,we used it to deal with the GPS/DR original data.Experimental results indicats that even only two GPS satellites in view,the GPS observation can be used by this filtering model to improve the positioning precision of dead-reckoning system.