Study On Low Cost SINS/GPS Integrated Navigation System

Strapdown inertial navigation system is a trend of inertial technology in recent years. In SINS, physical platform of traditional INS is replaced by mathematical platform. Because of these advantages of SINS, it is on the trend of replacing flat inertial navigation system in many applications. This paper regards a low cost piezoelectricity gyro SINS and integration of it and GPS as the target, make the research work of the following aspects. To project researches of prototype of a machine offer the Solid foundation.Offer a inertia method that test to piezoelectricity gyro strapdown IMU, characteristic of method this feasible to lie in method of testing, Test time that the course take short, have higher project practical value while being whole.Adopt project practical quaternion algorithm of strapdown navigation system, Analyze systematic error source, emulation prove the output change of SINS in there is device error of inertia and the initial condition of collimation error. On the basis of the above research, a reality piezoelectricity gyro SINS has carried out the test of static quiet. Test result show this paper adopt algorithm is effective; draw up program can run really certainly correctly.This paper has still studied SINS/GPS integrated navigation system, parts through the analysis for every subsystem to establish the error pattern of them, have determined combination pattern, and have designed a centralized Kerman filter. Emulate have shown this combination as a result may raise systematic precision, have obvious raising especially the precision of location and speed.