信息化战争对GNSS/INS深组合导航系统动态、跟踪灵敏度性能提出了更高的要求。本文基于商业GNSS接收机架构，在不显著增加运算量的前提下设计GNSS/INS标量深组合系统。主要研究内容如下： 设计了联合跟踪码相位、载波相位和载波频率的GNSS Kalman跟踪环路，并基于该环路设计标量深组合算法。该算法引入惯导辅助解决了高动态场景与弱信号场景环路带宽设置冲突的问题；该算法使用最大似然估计实现相干误差鉴别，其跟踪灵敏度优于传统PLL跟踪环路；该算法能够根据场景变化自适应调整环路带宽，收敛速度快。 基于DSP+FPGA硬件平台实现了基于Kalman跟踪环路的GNSS/INS标量深组合系统。开展静态实验和跑车实验，实验结果表明系统位置精度优于15m，静态速度精度优于0.1m/s。 开展高动态场景跟踪灵敏度仿真实验研究，实验结果表明50g动态下基于Kalman跟踪环路的GNSS/INS标量深组合算法跟踪灵敏度为24dB-Hz，而基于传统环路的GNSS/INS标量深组合算法跟踪灵敏度仅为29dB-Hz，本文设计的算法具有5dB的性能优势。

GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) deeply integrated system challenges high dynamic, high sensitivity need in information warfares. For consideration of calculation load optimization, the paper designs a GNSS/INS scalar deeply integrated system based on the commercial GNSS receiver architecture. The main work of this thesis is as follows: A GNSS Kalman tracking loop is designed for jointly tracking of code phase, carrier phase and carrier frequency, based on which the scalar deeply integrated algorithm is realized. With INS aiding, the algorithm solves the bandwidth setting contradiction between high dynamic and high sensitivity aspects. The algorithm use a maximum likelihood extimator for coherent error discrimination, as a result, its tracking sensitivity is higher than the traditional tracking loop. Finally, the algorithm adjusts the loop bandwidth automatically according to the circumstance change, which leading to faster convergence of carrier phase tracking. The Kalman tracking GNSS/INS scalar deeply integrated system is implemented on a DPS+FPGA hareware platform. Static test and car test results show that the position accuracy is better than 15m, velocity accuracy is better than 0.1m/s. High dynamic and high sensitivity simulation experiment is carried out with 50g acceleration. Tracking sensitivity of Kalman based GNSS/INS scalar deeply integrated algorithm is 24dB-Hz, while the traditional one is 29dB-Hz.