then, in the light of the characteristic, based on the tikhonov regularization theorem, two new regularizers are designed to mitigate the ill-condition of the normal matrix in gps rapid positioning 基于tikhonov正则化原理,针对这种特性,设计了两种正则化矩阵r的构造方法。通过新的正则化矩阵的作用,减弱了法矩阵的病态性。