SINS/GPS Inertial Integrated Navigation System

GPS and SINS is often applied to the two navigation systems, because the GPS susceptible to shield and interference, inertial navigation system navigation error accumulated over time increased, therefore, SINS/GPS integrated navigation system, to achieve the ultimate goal of accurate navigation.First of all, the inertial navigation system and navigation system of the basic concept and principle, followed from GPS composition and working principle of view, analyzes its concrete working manner and cause specific system navigation error factors, and then the partial differential navigation data preprocessing, simultaneous analysis of FIR filter and SINS/GPS combination navigation system combination of form and style.Secondly, given FPGA and embedded processor NIOS Ⅱ basic knowledge and development process. Analysis of inertial device, then the specific application circuit. The sensor signal data processing,at then signal is given a choice and A/D conversion circuit. Followed by the gyro and accelerometer using experimental and six position calibration method for two kinds of sensor calibration compensation after compensation, inertial navigation system to improve navigation ability with good results.Then, the establishment of SINS posture, speed, position and other system error equation and state equation, the eventual establishment of SINS/GPS integrated navigation system model, design filter, and gives the integrated system of observation equation.Finally, on the analysis of GPS and IMU specific performance index, separately on the GPS and SINS static experiments, the SINS/GPS integrated navigation system of static experiment, using the combined Calman filter, integrated navigation system attitude angle, speed, position error filtering results with good results, and then on the SINS/GPS integrated navigation system dynamic experiment, according to the simulation results can be concluded, the integrated navigation system can effectively solve the problem of error accumulation, integrated navigation system has better navigation effect.