Design Of Filter In The SINS/Loran-C/BD Multi-sensor Integrated Navigation System

As a data processing method of optimal estimation,Kalman Filter is a kind of theoretical basis of integrated navigation system.The principle of integrated navigation is based on the observation outputting,which is using Kalman Filter to estimate the system's different error state;and correct the system with it.In,order to obtain the accurate position,the navigation system which are not controlled by others countries are integrated.First,the history of integrated system and its recent marine application are introduced.The basic principle of the SINS,Loran-C and BD are discussed.By analyzing factors of the SINS,Loran-C and BD System,the model of the SINS, Loran-C and BD is established.Base on the two kinds of BD's different working mode,each positional model error is build.The optimal prediction model of SINS/RDSS is established in the case of position compensation,the result of theoretical simulation experiment is researched.Second,the basic theory of Federated Kalman Filter is introduced.According to the analysis of the theory about federated filter and combined with the features of marine navigation,SINS/Loran-C/BD integrated navigation system is designed. The result of theoretical simulation experiment is researched.The experiment results show that the reliability of SINS/Loran-C/BD integrated system is enhanced and the precision of the system is improved.