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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Then, the troposphere pseudo-range remaining error (TDRE) of differential GPS (DGPS) is defined, its mathematical model is constructed, and the computer simulation of TDRE of DGPS is carried out.

定义了差分GPS（DGPS）的对流层伪距残差的概念，并建立了数学模型。 用计算机对DGPS的对流层伪距残差进行仿真。

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