本文利用微型惯性测量元件和 GPS-OEM 板，以ARM 处理器为核心，设计了一种低成本、轻小型的嵌入式GPS/SINS 组合导航系统。文中介绍了捷联惯导的原理和初始对准，给出了采用卡尔曼滤波前后系统的误差曲线，和uC/OS-II 操作系统下组合导航系统软件的结构。关键词 捷联惯性导航 GPS 导航 组合导航卡尔曼滤波Abstract: An embed GPS/SINS integrated navigation system with the core of ARM is designed by using low-costing MIMU and GPS-OEM panel in this paper. We analyze the theory of strapdown inertial navigation and initial aiming in details. Give the error curves of the navigation system and the framework of system software based on uC/OS-II.Keywords: Strapdown inertial navigation;Integrated navigation;Global positioning system;Kalman filtering