Information Fusion In GPS/INS Integratexd Navigation

It is required that the land vehicle navigation equipment should offer not only real-time, high-precision, high reliability navigation information, such as position quickly, but also should have the functions of self-determining, adaptability to the changing conditions, anti-jamming, miniaturizing and good property to price ration.This study analyses and designs the GPS/INS integrated navigation system used for land vehicle, which has special working condition. The correlative experiments had been accomplished to analysis and compare. Providing a fuzzy and an adaptive Kalman way to improve the integrated navigation system. This project has important theoretical and practical significance for promoting the development of vehicle navigation equipment.When integrated navigation system works in real-time, it maybe get fault information during the data acquisition due to some uncertain factors, these fault datum will degrade the navigation accuracy of whole system. To solve this problem, a method to judge data validity based on the fuzzy logic is presented. This method gives an integrated evaluation by means of possibility theory and variable weight analysis method, And then several different processing modes were given according to different judge result. This method takes full advantages of redundancy and complementarity of different observations and makes the result more accurate and reliable. Then, this study establishes the mathematical model and using central and distributed Kalman filter to analyses integrated navigation system. Central Kalman filter and distributed Kalman filter are equal ways to analyze. Then an Adaptive Kalman filter model is used in the system. This method improves stability of the system. At last, on the basis of the research mentioned above, the master plan and software development of integrated navigation system has been achieved. Relevant experiments have been done. The results show that the scheme and algorithms of integrated navigation system are usable and effective.