Integrated Navigation Technology For Land Applications

Vehicle navigation technology is very important both in the field of military and civilian areas. At present, combinated navigation system widely used in the Vehicle navigation.Inertial Navigation System (SINS) is an autonomous navigation system, which can provide many kinds of information .It has high precision in a short period of time , but its location error accumulated as time go on, poor accuracy for a long time. Global Positioning System (GPS) long-term error characteristics is better, but not the accuracy of short-term error. Therefore, SINS / GPS combination navigation system can combine strongpoint to each other, is an ideal combination. Alrough it has many good point, but in real time, it can be easily disturbed. SINS/ speed sensor navigation can work without any outside information, so the research of SINS/speed sensor navigation is also very important.The main content of thesis is research on vehicle navigation system, and to study the multi-sensor navigation system of filtering technology. The second chapter is devoted to the thesis component of the vehicle navigation system .introduce three types of navigation systems - Inertial Navigation System (SINS), Global Positioning System (GPS), and the basic information of speed sensor. The third chapter is devoted to vehicle navigation in the filtering technology - Kalman filter,and gives out the equations of kalman filter. The forth chapter introduced the SINS/GPS navigation system, contracture the structure of the Kalman filter model. There are four combination modes as follow: location combination, velocity combination, velocity and location combination, velocity and acceleration combination. Construct the Kalman filter model and give out one of the actual tests. The fifth chapter introduced the SINS/speed sensor combination Navigation system, in order to gain the best navigation output, in this system we have considered the factor error of the speed sensor. In this paper the states equations were gave out, and gives the Kalman filter design. On the base of actual system, we have made lots of actual test, in this paper one of the tests was gave out.