The method of RVD relative navigation based on relative differential pseudo range of GPS was studied.

研究基于GPS相对伪距差分技术的RVD相对导航方法。

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Observability analysis shows that the integration system, in which only GPS pseudo range and delta pseudo range are the observable, can not assure favorable observability of the attitude error angles.

通过对可观测性能分析，得出了这样的结论：仅用伪距和伪距变化率为观测量的组合系统对姿态角误差的可观测性较差。

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The principle of the decorrelated pseudo range approach is presented. A weighted mean tracking error estimator is designed to estimate the GPS receiver code loop tracking error.

介绍了伪距解除相关法的原理，设计了一种加权平均跟踪误差估计器，用以估计GPS接收机码环跟踪误差。

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