| In this paper, the strap-down inertial navigation system (SINS) and the integrated navigation of SINS and global positioning system (GPS) are studied. Firstly the key technologies about initial alignment and attitude matrix algorithms are systematically discussed. After the simulation of SINS, the actual SINS is studied, especially studying the compensation of gyro's excursion. And it proves that the compensation can improve the navigation accuracy of SINS. On the basis of the realization of SINS, the integrated navigation of position/velocity for GPS and SINS are established, and SINS and GPS integrated navigation is realized by application. |
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