Satellite / Sins Integrated Navigation Key Technologies

Modern navigation has much higher requirements on precision and reliability of nav-igation systems. Due to inherent defect, single navigation system can hardly meet targetalone. Therefore, combined navigation technology, which utilizes two or more unalikenavigation systems for mutual complement, becomes effective solution for this problem.Combined navigation system is widely used in both military and civilian fields, satel-lite/INS combined navigation system on air vehicle and satellite/DR combined naviga-tion system on cars are commonly used. In the background of striving to develop satellitenavigation system of big countries, research on combined navigation has important sig-nificance.After introducing the working principle of SINS and satellite navigation system, thethesis focuses on the following contents:1.The combination methods of SINS and satellite navigation system are the looselycoupled and the tightly coupled, Kalman filtering equations of the two cases are givenafter choosing suitable coordinates.2.Artificially generate the contrail of the body, give its navigation parameters forcomparison of simulation. Analyze kinetic model of satellite's movement, generate satel-lite's position and velocity using queried 6 orbital elements, generate pseudorange andrate of change of pseudorange with body's contrail. According to IMU's error model,generate IMU's output data with body's contrail.3.Simulate Kalman filtering algorithm in satellite/SINS combined navigation, com-pare the loosely coupled and the tightly coupled, the result suggests that the tightly cou-pled with feedback has higher navigation precision, and it's a more stable scheme.