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。
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.
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。
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.
最后，对影响伪距测量值的因素进行了讨论，给出了误差计算的方法，分析了对测距精度的影响。
Finally, the factors influencing pseudo coding ran ging value are discussed, error estimation method is given, and the influence on ranging precision is analysed.
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