| Recently, the integrated navigation system, specially the system based on GPS and SINS, has been a leading trend of navigation technology. In order to achieve high guidance-precision and anti-jamming, information fusion problems in GPS/SINS integrated navigation system are studied in this paper.First of all, the integrated navigation system of strap-down inertial navigation system and global positioning system is studied deeply,the principles of GPS and SINS is introduced, and it is necessary to integarate these two navigation system.Secondly, the main error sources of SINS are studied and its model is established. At the same time the integrated navigation of position/velocity for GPS and SINS are established. Thirdly, in order to test the simulation system of integerated navigation, this paper brings forward two mathematical methods about how to produce stimulant flight route data. They respectively are Local-level Frame version which is suitable for short-distance, short-duration flights and Earth Frame version suitable for long-distance.Finally, SINS and GPS integrated navigation is realized by application of traditional Kalman filter. But, Kalman filter requires that the dynamic model of system and the statistics of system noise and observation noise are prior known accurately. Due to the complex application circumstance, it is difficult to satisfy these requirements. So this paper introduced the H∞robust filtering, and this algorithm is proved exactness by simulation experiment. The results of test indicate that the navigation accuracy of integrated system is improved greatly.
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