| The main method of data processing in integrated global navigation satellite system (GNSS) and strapdown inertial navigation system (SINS) is Kalman filter. By means of the studying and modeling the system error, appropriately selecting the state, establishing the equation and measurement equation, the state values can be estimated, which then be used to correct the corresponding INS parameters.Firstly, the algorithm of SINS is studied. SINS mechanized arrangement equations is derived and the measuring principle of inertial devices (gyroscopes and accelerometers) is worked over. Analysis and simulation of the navigation algorithm is provided.Secondly, this paper studied the algorithm of positioning and velocimetry of satellite navigation, the meaning of Keplerian orbit parameters in ephemeris, and the method of derivation of satellite position and speed.Thirdly, the working principle of kalman filter, used in the continuous-time linear system and discrete-time linear system, is studied. And the discretization method of continuous kalman filter and the iterative equation of discrete kalman filter is introduced.Fourthly, this paper introduced the application of kalman filter in the fine alignment of SINS, derived the error model of SINS on a stationary base, and established the state equation and measurement equation, a simple simulation analysis is also provided.Finally, based on the SINS error model and GNSS error model, this paper established Kalman filter model used in integrated navigation system, and then studied and analyzed the kalman filter used in data processing in integrated navigation system. |
PDF Full Text Request