The Integrated GPS/INS(IGI) simulator is utilized to explore design issues associated with the vertical channel of a GPS/BARO/INS. 16 rank dynamic equations are deduced.

• 本文利用IGI模拟器探索GPS/Baro/INS组合导航系统之设计依据。推 导了状态量为16阶的组合系统动态方程。