The Study On Algorithms Of Strapdown Inertial Navigation System And Kalman Filter Of The Integrated Navigation Using Precise Integration Method

Strapdown inertial navigation system is characterized by inertial units directly connected to the transporter, so the inertial sensor devices can measure the information of movement and angular motion information directly.It calculates the attitude matrix immediately by computer and establish a mathematical platform. So the attitude updating and the calculation of navigation are the algorithms core of SINS, it is also the main factor affecting the system's accuracy. Especially in high dynamic environment missiles, the attitude updating algorithm is the determinants of whether the SINS can be work normally, but it also the research focus of domestic and international in recent years. The updating algorithms has some important functions, such as optimizing the design of SINS, minimizing cost of development, speeding up the developing progress. Integrated navigation system has integrated character of other navigation. Information fusion has been widely used in it.Some filter method,such as kalman filter, are the main method in information fusion.There are many methods of attitude calculation in SINS, which can solve the quaternion differential equations. But for SINS to the fields of high-precision navigation becoming lack of precision. The introduction of a new method is necessary. Precise integration method is presented by Academician Zhong Wan-xie, a scientific method. The precise integration method for solving the exponential matrix and partial differential equation provides a new way of thinking for my study. We obtain a more accurate quaternion update values, throughing the solution about the differential equations of quaternoin using precise integration method. The simulations of attitude solution show that the method effectively improved the accuracy of attitude solution, and its suppression of cone effect error is better than other solving methods, besides it also verified the veracity of the model.The integrated navigation system of GPS/SINS that mainly composed by SINS. The paper established the integrated navigation system error equation and the location-velocity measurement equation. Currently the main method of information fusion is kalman filter. The article achieved the SINS/GPS integrated navigation system using kalman filter technology. however, the traditional kalman filter integrated all the information effectively, the accuracy and constringency are not good enough. So we introduced a precise integration of kalman filter, and the simulation experiment results show that the terms of the accuracy and convergence are better than the traditional Kalman filter.