The gps pseudorang observation equation and carrier phase observation equation are constructed and linearized . the lambda is regarded as a more effective algorithm for realizing arof ( ambiguity resolution on the fly ) after analyzing and comparing a lot of gps integer ambiguity resolution algorithms . the integer least squares estimation of the lambda is analyzed , and the result shows that the key process of integer least squares estimation is gps ambiguity decorrelation 3 )利用马尔柯夫估计，推导了gps整周模糊度估计矢量和导航定位参数估计矢量的表达式，以及相应的协方差矩阵；构造了gps测码伪距和测相伪距的观测模型，并分别进行了线性化处理；分析比较了多种gps整周模糊度确定算法，认为lambda算法是实现整周模糊度动态确定( ambiguityresolutiononthefly ? arof )较为有效的算法；然后对lambda算法中整数最小二乘估计进行了深入的分析，得出结论：模糊度去相关处理是整数最小二乘估计的关键过程。
