介绍了GPS／SINS深组合导航系统的技术发展历程。与传统的标量跟踪相比，阐述了基于矢量跟踪的深组合导航系统的关键技术及优劣势。按照导航系统结构和信息处理方式的不同，将GPS／SINS深组合导航系统分为集中式、相干分布式和非相干分布式，分析对比了这三种主要深组合模式的性能特点。论述了GPS／SINS深组合导航系统的发展现状，指出了深组合未来的研究方向和发展趋势。%The development of the deep GPS/SINS integrated navigation system is introduced.Com-pared with scalar tracking, the discussion of the structure and characteristic of vector tracking is undertak-en.According to the differences in structure and the way of signal processing, the deep GPS/SINS inte-grated navigation system can be divided into three models, including centralized model, coherent federa-ted model and non-coherent federated model, and then the characteristics of these three models are ana-lyzed.The current situation and development trend of deep GPS/SINS integrated navigation system are also discussed.
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