The Application Of INS/GPS/TAN Integration Navigation System

It is a effective way to increase the cost performance ratio by integrating several kinds of navigation systems. By the development of information fusion technology, the federated filtering is getting more and more attractive in navigation flied, because that the federated kalman filter can be used to design the integrated navigation system with high precision and good fault-tolerance flexibly.In this thesis, the theory and algorithm of federated filtering is introduced, and the application of information fusion theory in INS/GPS/TAN integration navigation system is researched. The contents of this thesis are summarized as follows:(1) Introduces the basic theories of the integration navigating and information fusion technology, analyzes its state of development in the project.(2) Researches and analyzes the algorithms and structural characteristics of the federated kalman filter, proposes a project of INS/ GPS/TAN integration navigation system. This project can guarantee the good fault-tolerance, and consider the high precision and operation tempo.(3) Makes up the mathematic model of INS/GPS/TAN integration navigation system. And the simulations are also proposed. The result indicates that it is a effective way to improve the precision by the federated kalman filter.(4) Discusses the fault detection and isolation technology of trouble, provide a solution to the fault-tolerant design of GPS/INS/TAN integration navigation system. The result indicates that this scheme can detect, isolate the faults, and reconfigure the system.The research in this thesis is but theoretical research and deduce, and emulation prove. And we hope these can do contribution to the application of information fusion in integration navigate.