Research Of Filtering For Gfsins/gps Integrated Navigation System

With the development of national economic construction and defense construction, the applications of inertial navigation become very popular. Now inertial navigation system has been applied to various areas of society which including aircraft, ships, spacecraft, missiles, vehicles and so on. Freegyroscope strapdown inertial navigation system (GFSINS) is a measure unit of strapdown inertial navigation, which replaces a gyroscope with accelerometer and calculates angular speed from a measure shows that the system is good to inertial guidance of big dynamic state and short navigation time and has a lot of advantages, for example low cost and low achievement consume, longevity life etc. An absence of gyroscopes leads to the accelerated growth of errors and the required levels of precision hard to achieve in short time,so the integrated navigation system of GFSINS and GPS are used.The navigation parameter errors are adjusted by the data obtained from GPS,which meet the accuracy and time requirements for navigation systems.The innovative study and main work of the thesis are as follows:First, according to the work principle of the GFSINS,a new configuration of nine accelerometers is proposed.The design of the configuration is simple,which provides the redundant information of accelerometers and is benefit to the calculation of angular velocity.Second, we carry out the angular velocity solution to this nine accelerometers program and presents a program of eliminate the accelerometer error because of accelerometer bulk. When there are accelerometer errors, we carry out the angular velocity solution.Third, we carry out observability analysis against GFSINS/GPS integrated navigation systems. Observability analysis of the initial alignment process in thesystem plays an important role, and the stability of the system Kalman filtering enhancing protection. Filtering algorithm is used to make the error estimation and feedback adjustment, the accumulation of the navigation error is inhibited and the positioning accuracy of the navigation system is improved.We discuss the GFSINS/GPS integrated navigation system with emphasis on filtering method, the simulation results show that: integrated navigation system has high navigation accuracy.