.gps / Sins Integrated Navigation System Filtering Algorithm Research

This paper mainly studies t he GPS/SINS integrated navigation system.This system hasthe specialty of high precision,good reliability and small volume.It is one of the developmentdirections of modern navigation system.Firstly this paper analyses SINS and GPS in theoryand labors the error of SINS and establishes error model. The integrated navigation ofposition/velocity for GPS and SINS are studied.The integrated system is emulated by Kalmanfilter technique.This paper includes six chapters:The first chapter introduces the meaning ,aim,studyactuality interiorly and overseas,and the main contents in this paper.The second chapter andthe third chaper are theory knowledge.It includes orientation principium of SINS andGPS ,error analyze and Kalman filter knowledge.The fourthly chapter mainly analyses thecentralized Kalman filter in SINS/GPS integrated navigation system and study a mass ofemulation.From the emulation result,the integrated navigation system improves the systemprecision,overcomes disadvantage of simple inertia navigation system.The fifthly studies thefederated Kalman and a adaptive Kalman arithmetic in theory.From it we know them expelthe centralized Kalman filter.The sixth chapter sums up the whole article and brings forwardthe prospects to the next study.