The GPS Application Study Of MINS/GPS Integrated Navigation System

MINS/GPS integrated navigation system has been used widely in many fields. It overcomes the shortcomings of MINS error which is accumulated as time goes on, and the inherent vice of GPS system. Making use of advantages of both MINS and GPS, it reduces the systematic error, improves the precision of system and cuts down the cost of navigation system.In order to provide MINS/GPS integrated navigation system with reliable data of GPS, this paper did works as follows:First of all, based on the principle of GPS orientation, position and velocity of secondary planet are calculated and then the best method of satellite selection is introduces which is suitable for this task. As sources of GPS's error are summarized, corresponding modification is advanced.Secondly, analyzing the combination modes of MINS/GPS integrated navigation system, state equations and observation equations of combination of position/velocity and Pseudorange / Pseudo-deltarange are deducted.Thirdly, the format and the content of SUPERSTARⅡGPS receiver's message are analyzed with STARVIEW for different integrated navigation system's demands, and then required messages are distilled.Finally, with the software of GPS's data receiver, the decoding program and relevant algorithm are validated. And then static state test of position/ velocity integrated navigation system is carried out.