Focused on the elimination of multipath error in Global Positioning System (GPS), a multipath error elimination method based on the combination of integrity and deep coupling structure was proposed. Firstly, the GPS and Strapdown Inertial Navigation System (SINS) were constructed into a deep coupling structure. Then, pseudorange residual and pseudorange rate residual which came from the output of phase frequency detector were used as the test statistics. Secondly, according to that pseudorange residual and pseudorange rate residual subjected to Gaussian distribution, the detection threshold of pseudorange residual and pseudorange rate residual was calculated. Finally, the detection threshold was used to evaluate the test statistics, and the modified pseudorange residual and pseudorange rate residual were put into the Kalman filter. In the simulation comparison of the proposed method with the multipath error elimination method without integrity: the latitude error decreased by about 40 m, the yaw angle error decreased by about 4 degrees, the north velocity error decreased by about 2 m/s. In contrast to the traditional method of eliminating multipath errors (using wavelet filtering): the height error decreased by about 40 m, the pitch angle error decreased by about 5 degrees. The simulation results show that the proposed method based on integrity can effectively eliminate the positioning error caused by multipath (reflected in position error, attitude angle error and velocity error). Meanwhile, comparing to the traditional filtering method, it can more effectively reduce the positioning error caused by multipath.

In order to meet the need of low-cost digital video processing chip,the paper presented a new edge preserving enlargement algorithm using two line buffers．First, a representation point was found to present interpolation point. Next, relevant direction of the representation point was found. Then, four points of this direction and new position relationship were calculated. Last, interpolation algorithm was used. The experimental results demonstrate that the algorithm can not only preserve the edge effectively，but also remove the edge blur． It can be used in the low-cost chip of digital video processing．