MINS/GNSS超紧耦合系统的研究虽然在上世纪末被提出,但是其研究的可能性直到本世纪初随着软件接收机的研究取得巨大进步后才开始逐渐被发掘,近几年更是有了飞速的发展,但是目前全球的研究者们对MINS/GNSS超紧耦合系统的具体模型和算法还未统一观点和思路,研究的水平和程度也各不相同。 Although the study of the MINS / GNSS ultra-tight coupling system was put forward at the end of last century, the possibility of its research until the beginning of this century began to be gradually discovered as the research of software receiver made great progress. In recent years, However, the researchers and researchers in the world have not unified the specific models and algorithms of the MINS / GNSS ultra-tight coupled system. The level and degree of the research are also different.