Abstract: Code phase error can’t be discriminated by traditional code phase discriminator under the condition of multi\|path, a Gaussian Code Phase Discriminator (GCPD) is presented. In the mode of GPS/INS deep integration, the method of building a receiver code phase discriminator is different from traditional idea. The prompt code phase, generated from GPS receiver is used by INS system to create its own code phase discriminator，and then the GCPD is built after GPS receiver code phase discriminator aided by INS code phase discriminator. The code phase tracking error is reduced. The simulation results indicate that the GCPD could minify noise variance, at the same time the phase discrimination accuracy is improved, thus improving position accuracy under the condition of multi path.

Key words: GPS/ INS; , Multi path; , Deep integration; , Code phase discriminator