The measurement model of double-differenced GPS carrier phase and INS position error model is proposed to control the integrated system based on the theory of H∞ robust filter.It can ensure the robust and real-time characteristic of the integrated system even if the statistical properties of the noise disturbances is uncertain.The dynamic simulation of the given model and the Kalman filter model in the same condition concludes the given model has better precision and excellent robustness

which is valuable for reference of project applications