jgg     2013 33 (2):  101-104    ISSN: 0412-1961  CN: 21-1139/TG INTEGRITY MONITORING TECHNIQUE OF GNSS BASED ON INS 1)Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052 2）96267 Troops of PLA,Yiyang 473000 Received: 2012-09-26  Revised: null  Online: 2013-04-18 Supporting info