Integrated SINS/GPS navigation system error models are analyzed in this paper and a two demotions error analysis method is proposed based on Kalman filter technique in the condition of small misalignment azimuth angle. The GPS/SINS speed and position integrated navigation model of loose coupling combinations under system error equations is established. In different observed quantity combination cases the simulated experiments are carried out, and different observed quantity of system error influence are also discussed.%本文对SINS／GPS系统误差模型进行了推导，在失准角小角度情况下惯性系统误差模型的基础上提出了一种基于Kalman滤波的SINS／GPs组合导航系统的二维误差分析方法。采用工程上较易实现的松耦合的组合方式，建立了位置、速度组合导航模型，并对速度组合、位置组合、速度位置组合方式进行了仿真对比分析。
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