| This paper focuses on the studying of the combinational navigation which consists of the Doppler navigation and Inertial navigation. Two or more modes of navigational technology make up of a new navigational mode, that is the concept of the combination navigation. This paper discusses the principles and mathematics modals of the strapdown inertial navigation, working principles and calculation formula of Doppler navigation, arithmetic of Kalman filter. After working out the connections of three parts of the combinational navigation, the structure of the combinational navigation is built up based on the connections, and then emulator of the combinational navigation is finished according to the structure.In the procession of the emulator of the combination navigation, some results which can reflect the performance of the combinational navigation are got. The compare between the combinational navigation and the inertial navigation proves the advantages of the combinational navigation in the error of velocity and location. And then, for opening out the affection of Doppler velocity in the combinational navigation, the mean and the varies of the Doppler velocity are changed to observe the transformation of the combinational navigation and conclude quantitative connections between the change of Doppler velocity and error of combinational navigation.
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