Research On GPS Receiver Aided By INS

The precise navigation of high speed objects in long distance is a hot topic in navigation research. INS(Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system take both the advantages of INS and GPS, it can improve the positioning precision and has been one of the development directions of modern navigation system. Aimed at INS/GPS integrated navigation system, this thesis puts emphasis on information fusion algorithms and characteristic of GPS receiver aided by velocity signal provided by INS. The main contribution of this thesis is as follows,1. A track generating method is designed and the coordinate conversion of different coordinates is completed. The modeling of gyroscope and accelerometer of INS is given.2. The main error sources of INS and GPS are studied and their modes are established. The error is optimally estimated by Kalman filter algorithm.3. Aiming at the inaccurate error mode, through analysis of the characteristic of Kalman filter algorithm, a weighted exponential Kalman fiiter algorithm based on fuzzy control is introduced. Simulation results prove that the tracking performance of filter is enhanced, thus positioning precision of the integrated navigation can be improved.4. Bandwidth, tracking and capture characteristic of GPS receiver aided by velocity signal provided by INS are studied. Simulation results show that the transition time of such GPS receiver is one percent of original GPS receiver. Its performances are improved effectively.