Low-cost Imu / Gps Integrated Navigation System Engineering Research

With the development of inertial technology, integrated navigation systems based on inertial unit are become he main developing trend of navigation system. At present, low-cost inertial integrated navigation systems based on micro-inertial unit are especially paid much more attention to. A lot of famous companies and institutes, for example, Honeywell, Draper, Crossbow, Stanford, Calgary, and MIT have invested a lot of money in this field. A systematic study about low-cost integrated navigation system is made in this paper.The main research is summarized as follow:1. According to the basic principle of IMU, COMPASS & GPS, there data formats and the commands needed, a real time data collecting software is designed.2. A further study of the low-cost SINS iterative digital algorithm was deduced in details, which contains attitude update algorithm, velocity update algorithm, position update algorithm, and initial alignment algorithm.3. The low-cost integrated navigation system is designed. State and observation equations are established for Kalman filter. And filtering program of the low-cost IMU/GPS strapdown inertial navigation system is studied.4. The inertial alignment is studied. And an experiment is carried out to demonstrate the effect of the algorithm. Kalman filter is used in the experimentation. Its feasibility of application to low-cost strap down inertial integrated navigation system is farther validated.5. Using Object-Orient language C++, the author programmed software for SINS/GPS integral navigation visual simulation, which has already been handed over.