The conception of vector-based GNSS/SINS deeply integrated navigation system is intro-duced.According to the variation of information fusion, the deeply integrated navigation system can be classified into centralized deep integration and cascaded deep integration.By providing different deep in-tegration modes, their features are compared and analyzed.The developments of GNSS/SINS deep inte-gration are reviewed, and the future directions are prospected.%介绍了基于矢量跟踪的GNSS/SINS深组合导航系统的概念,根据信息融合的不同将深组合导航系统分为集中式深组合和级联式深组合,给出具体的深组合模型并进行对比分析, 综述了GNSS/SINS深组合导航系统的国内外研究现状,展望了深组合导航系统的未来发展方向.
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