Based Multi-antenna Gps / Sins Attitude Measurement System

Integrated navigation system is always the emphases in the study of navigation field and there is very broad space in the research of combining high-accuracy GPS and high-reliability SINS.Attitude Determination with GPS carrier phase has advantages of high accuracy, low cost, good data long-term stability and no accumulated error .But there are also updating the data rate low and GPS signal quality being serious affected shortcomings. Therefore, GPS and SINS integrated attitude measurement system not only meets the accuracy requirements and lower costs, but also improves attitude data update rate. The research and simulations show that compared with the traditional integrated navigation system, the reliability and accuracy of multi-antenna GPS/SINS carrier attitude measurement system is greatly improved.The multi-antenna GPS/SINS carrier attitude measurement system researched in the dissertation is different from the traditional integrated navigation system. In this system, the navigation parameters are continuously calculated by SINS and the attitude information output is above 50Hz. In addition, in the circumstance that the signal of the multi-antenna GPS orientation system is efficient, the baseline vector, double difference carrier phase and double difference velocity information can be obtained constantly. When the GPS signal is defective, SINS can provide navigation parameter in time. Once the GPS signal is effective, the data gained from SINS and GPS can calculate error value which drives Kalman filter and estimates system error. When system error value satisfies certain condition, the error value can rectify SINS. This method not only eliminates the accumulated error of SINS, but also greatly improves the accuracy of system.At last, an idea about the improvement methods of integrated navigation technology is proposed and discussed. The attitude determination technology in the dissertation has high-accuracy, which makes important reference contribution to the navigation system, especially to the navigation system on warcraft.