Low-cost Sins / Gps Integrated Navigation System

In this paper, an low cost integrated SINS/GPS system is designed based on the request of the extended range guided shell (ERGS) system to the navigation system. The integrated navigation system is composed of the strap.down inertial navigation system(SINS) and the global positioning system(GPS). Information from the subsystem of the integrated navigation system is syncretized by Kalman filter, which can output higher precision navigation information.The mechanical layout of the SINS and the algorithm of the attitude matrix are introduced firstly in this paper. Then the error models of the SINS and the GPS are established respectively, and the kinematics and the dynamics equations of the guided shell are founded with which ballistic trajectory of ERGS is simulated. Simulation of the SINS and it's error analysis are accomplished based on the ballistic trajectory simulation.The merits of the integrated SINS/GPS system are introduced and different integrated models including position.velocity, fake space.rate of fake space and tight coupling models are studied in this paper. This paper stressed the design of position.velocity integrated model, in which Kalman filter adopting feedback.adjust method is devised based on the error models of the SINS and the GPS. According to the trajectory specialty of ERGS, this paper distributed the initial alignment errors and simulated the whole trajectory of the integrated navigation system. At last, using the prototype system, the field.test is done, and the results demonstrate that the design of the integrated navigation system is correct.