Simple GPS/SINS Integrated Navigation System

This thesis is focused on the research of a simple GPS/SINS integrated navigation system. Consisted of navigation terminal subsystem, communication subsystem and central controlling subsystem, this GPS/SINS integrated navigation system is a multi-subject related project which involves theories and techniques of GPS, SINS, computer processing and embedded system design.To meet the need of high precision and accuracy as well as to cut the cost, the plan of the simple GPS/SINS integrated navigation system is falling. Although low-cost sensors which are less accurate and high noisy are used in this integrated navigation system, the accuracy can be greatly improved due to the feed back of GPS. By analyzing the error property and positioning theory of GPS and SINS, the corresponding model of integrated system and information fusion scheme is designed.The simple GPS/SINS integrated system can be mainly divided into four modules which are the GPS module, IMU module, LCD displaying module and ARM7 processing module. GPS and IMU provide system inputs which contains information of position and velocity. By using SINS navigation algorithm, the ARM processor gives feedback information from GPS to adjust IMU navigation data, and the information from IMU can also help GPS from receiving navigation data. The output of the system is the information that have been processed in ARM and it will be displayed on LCD. In this simple GPS/SINS intergrated system, the drifting characteristics of SINS is limited. The GPS receiver offers a high-precision frame of reference which could be used to revise the navigation data of SINS. In the meantime, the output rating of the system is improved. The output rating of GPS navigation system is 1～10Hz while the output rating of SINS can reach 50Hz. With the combination of GPS and SINS, the information output rating of the system can be raised distinctively.