将GPS测量定位技术、求解卫星轨道摄动运动的Encke方法和广义Kalman滤波技术有机地结合在一起，提出了利用GPS实现低轨道航天器高精度自主导航定位的新方法——载波相位-伪距综合动态定轨技术，解决了GPS载波相位应用中动态解模糊和跳周修复的难题。以此为基础，提出了两个航天器之间的载波相位-伪距综合差分动态相对导航技术。数值仿真分析和半物理仿真实验结果表明，所提出的动态定轨技术是可行的，对提高GPS导航定位精度的效果是显著的，并且其模型、算法和软件具有工程实用性。

In this paper, GPS measurement technology, Encke method to solve satellite orbit perturbation and generalized Kalman filtering technology are organically combined together, and an innovative solution— carrier phase & pseudorange integrated dynamic orbit determination (CPPIDOD) for low earth orbit spacecraft on-board autonomous precise navigation and positioning using GPS is presented. Difficult problems of dynamically resolving of integer ambiguities and amendment of cycle slips in the application of GPS carrier phase have been solved. Based on all these, technique of carrier phase & pseudorange integrated dynamic differential relative navigation between two spacecrafts is brought forward. Results of numerical simulation analyses and semi-physical simulation tests show that the solutions presented in this paper are feasible. They can significantly improve the performance of GPS positioning, and their models, algorithms and software are practical for engineering use.