The Optimal Combination Of Strapdown Navigation System Kalman Filter Algorithm Design

The vehicle navigation system, that composed of GPS receiver and light inertial navigation components, which used for rigor and steady positioning, is now used in numerous working such as fieldwork and survey. Compared with simple point GPS, DGPS positioning scheme and plate-based integration navigation scheme, the system based on strap down inertial integration navigation scheme is more legerity and low-cost. It has a discussion on the composing, initialization, the calculate principle of attitude and position and working status of the simple system. And it also discusses the objection of the calculation method used in system and briefly lists some notice on constructing the system. It also contains some formula proving such as method that using on computing attitude, position and velocity of the vehicle system.