通过对地面卫星信号覆盖区内的多普勒频率偏移及不确定性范围的计算，给出了卫星导航系统信号的多普勒频率偏移与接收机位置之间的关系。

By calculating the Doppler shift and its uncertainty in the signal covering area, the relation between Doppler shift and the position of the receiver is obtained.

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给出了SINS与全球卫星定位系统(GPS)、多普勒导航系统(DNS)组合导航系统的状态方程和误差分析，在给定条件下进行了仿真试验。

The state equation and error analysis of SINS combined with globe positioning system (GPS) and Doppler navigation system (DNS) were also presented.

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