High-precision Beidou tri-band SINS deep integration navigation system

The invention relates to a high-precision Beidou tri-band SINS deep integration navigation system, wherein the Beidou receiver navigation error eliminating method and the ambiguity solving method are considered, and a Beidou navigation satellite system and an SINS help each other for combined navigation. Through the TCAR method, the whole cycle ambiguity is accurately and efficiently solved, and therefore the high-precision carrier phase measurement is conducted; through tri-band data signals, ionospheric refraction errors can be solved according to the equation set composed of ionospheric refraction error calculation formulas, and then the positioning precision is improved. The system focuses on solving the problem that the deep integration navigation system relies on the accuracy of the SINS, the navigation precision of a receiver is improved through Beidou tri-band data fusion, the requirements for the posture, speed and position precision of the SINS is lowered, the anti-interference capacity and the comprehensive accuracy of the Beidou tri-band receiver and SINS combined navigation system are improved, and the performance of armament and important civil carrying tools can be improved.