Based On Pseudorange, Pseudorange Rate Combination Of Navigation Technology Research

This dissertation works on the pre-theoretical research and technical exploration with SINS /GPS embedded integrated navigation system, which based on the pseudo-range and pseudo-range rate. Dissertation expounded the working principle of strapdown inertial navigation system, given inertial prepared solution procedures by using MATLAB. Through simulation strapdown the correctness of the theory and algorithms, analysised the characteristics of position and velocity errors accumulate over time. By working on the self-developed prototype of GPS, the coordinates of the satellite in orbit calculation, navigation message access and research are described. Established a pseudo-range and pseudo-range rate measurements for the concept of SINS / GPS combination of system state equation and measurement equation of Kalman filter design parameters, the preparation of a combination of MATLAB software simulation based on the pseudo-range and pseudo-range rate the integrated navigation system can effectively suppress strapdown inertial navigation system position and velocity errors of the divergence. This dissertation achieved good results.