Study On The Integrated Navigation Of SINS And Global Positioning System (GPS)

In this paper, the strap-down inertial navigation system (SINS) and the integrated navigation of SINS and global positioning system (GPS) are studied. Information from navigation sensors (Accelerator, Gyro, GPS Receiver) is conveyed to navigation calculator and processed in Kalman filtering, the optimal navigation information can be gained. Firstly the key technology about initial alignment is discussed. The initial alignment by Kalman filter base on the parameter Identification method is completed, and the accuracy of initial alignment is fast improved. After the initial alignment, the software of inertial navigation system is completed and the error of inertial navigation system is studied. Lastly, on the base of the realization of SINS, the main error sources of GPS is studied and its model is established. At the same time the integrated navigation of position/velocity for GPS and SINS are established, and SINS and GPS integrated navigation is realized by application.There are seven paragraphs introduced in this paper. In the first paragraph we introduce the prodrome including the significance of this project, the actuality in the world about this project, the main work in this paper. In the second paragraph we introduce the basis of this theory including the basic theory of GPS, the definition of the coordinate, the conversion of the coordinate, the concept and the conversion of the quaternion, the Kalman filter. In the third paragraph we introduce the project of the initial alignment by Kalman filter. In the fourth paragraph we introduce the basic theory and the solution project about the strap-down inertial navigation system. In the fifth paragraph we introduce the basic theory and the solution project about the integrated navigation system and the flow of software. In the sixth paragraph we do enough experiments to verify the reliability of real-time simulation software, and the accuracy of this system is fast improved. In the seventh paragraph we have a summarization of this paper and give a prospect of this research area in the next step.