The discussion on the performance of different coupled navigation algorithms in GNSS/INS has been a hot topic in the field of navigation and positioning.This article provided theoretical derivation and experimental verifica-tion of the equivalence conditions for two classic navigation algorithms,namely GNSS/INS loose and tight coupled.Firstly,the application methods of independent GNSS initial value structure and integrated GNSS initial value struc-ture in loose and tight GNSS/INS combination algorithms were discussed in detail,and the equivalenceconditions of the loose and tight combination algorithms under navigation state parameters and variance-covariance were derived in the GNSS initial value structure mode.Then,the accuracy,operational efficiency,and equivalence of different algo-rithms were verified through in vehicle testing.It was found that under the ideal observation conditions of GNSS,the consumed time,navigation coordinates estimations,and variance-covariance of the two algorithms were com-pletely consistent,verifying the equivalence conditions of the two algorithms.
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