Study Of GPS/GLONASS/INS Integrated Navigation System

In the modern air-ground battle mode, the effectively air-ground attack is particularly essential for the air superiority. Thus, the weapon system and flight control system demand higher performance and reliability of the navigation system. As a result, the combined navigation system that has the redundancy design and multiple functions is widely used in different nations.GPS/INS, a primary way for integrated navigation systems, has some limitations when used in the military field of the nations excluding USA and its allied countries. GPS is controlled by Department of Defense of USA and therefore has some SA services. Nevertheless, GPS/GLONASS/INS integrated navigation system gets rid of such disadvantages and greatly enhances the precision and dependability of navigation system in addition. Hence it is a prosperous aspect for integrated navigation system to develop in the future.In this thesis, a design and implementation method of a GPS/GLONASS/INS integrated navigation system with practical use is introduced. With the study and comprehension of methods which are specially utilized to construct the mathematics models of GPS/INS system, construct the models which combine the IMU and the receiver that fuses the data from GPS and Glonass. And then the corresponding GNSS and INS models are constructed and analyzed. As to the implementation, some primary work that has been done is listed as follows:1,Construct the hardware system of the integrated navigation system, and make a receiving board based on ARM7 processor for receiving original navigation data and communicating with navigation computer.2, Design the software system of the integrated navigation system, which includes the receiving program of GNSS and IMU modules, USB firmware program, USB driver that is special for the receiving board, and program realization of discrete Kalman filter.3,Construct the state equation and measurement equation under Location & Velocity Integrated Mode. Take an analysis and computation on the constructed mathematics model using Kalman filtering.