Low Cost Of Sins / Gps Integrated Navigation System Algorithm Research And Software Design,

In this paper, the low-cost SINS/GPS integrated navigation system, which consists of inertial navigation system and global position system, is designed and Real-time simulated. Information from navigation sensors is conveyed to navigation calculator and processed in Kalman filtering, the optimal navigation information can be gained. In view of the system's characteristics, piezoelectric gyro is adopted; micro-machined accelerator is used; low cost GPS-OEM chip is applied;In this paper, After the studying of the main error sources of GPS, its model is established. The error model of low-cost inertial system is simplified. The math model of the integrated system is established.Firstly, we simulate the SINS. Secondly, a lot of numeric and Real-time simulation researches are finished on the SINS/GPS integrated system with SA or not. We also analyse how SA affects the integrated system, and do enough experiments to verify the reliability of the Real-time simulation software. The results indicate that: With SA, the position precision of the integrated system, whose gyro drifting is 50 degree/hour and whose accelerator offset is 0.001g, is 60 meters, its velocity precision is about 1.75m/s out and its attitude angle precision is about 0.25 degree. Without SA, the position precision is about 20 meters, its velocity precision is about 0.5m/s and its attitude angle precision is about 0.1 degree. When the signal of GPS is lost, the growing rate of the integrated system error is much lower than that of SINS system. When the signal of GPS is lost for five minutes, the position error is about 1400 meters, its velocity error is about 15m/s and its attitude angle error is about 10 degree.