Research On SINS/GPS Integrated Navigation System

SINS (Strapdown Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system gathers the advantages of both SINS and GPS. It has the specialty of high precision, good reliability and small volume. It is one of the development directions of modern navigation system.SINS/GPS integrated navigation system is a complex system; it includes a lot of contents. This paper plays the key on the strapdown inertial navigation and integrated algorithm. The content of this paper includes three aspects:1. Analyzing the theory of strapdown inertial navigation, discussing its mechanical arrange and error model. Base on this constitutes the track simulator and gyro emulator and accelerator emulator. And then to use SIMULINK to build the strapdown inertial navigation flat.2. This algorithm will bring to some unknown error in high-motion environment, and then let our key point to the attitude update algorithm. Comparing the algorithm precision with in quaternion and normal coning compensate and recursive coning compensate. From the experiment that could realized this algorithm have nice result to the coning compensate .3. Based on the research of integrate models of SINS/GPS, the estate equation and the measure equation of centralized Kalman filter were established, from simulate could find that contained outliers in the data of GPS interfere the precision of filter seriously, before the GPS date process could add the motion decision.4. The position-velocity integrate Kalman filter was simulated. Contrast with SINS, the SINS/GPS integrated navigation system enhance navigation precision and satisfy the navigation requiring. According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched, from it could find that this filter have good future in the project.