| Navigation technology is an advanced modern technology.It has been widely used in navigation, aerospace and military fields. With the rapid development of science and technology, people are constantly trying to combine different types of navigation systems to improve the accuracy and efficiency of navigation and positioning system. While some of the filtering algorithm which is usually applied to integrated navigation system also has defects, the system accuracy and efficiency can not be improved. Therefore, the study to decide what kind of filtering algorithm to be used to improve system accuracy and efficiency is a significant issue.In this paper, the study of GPS/SINS location and loose speed integrated navigation system, the system architecture and simulation analysis illustrated the advantages of filtering algorithm. And this algorithm achieves the real-time navigation and positioning on the transporter.First, the working principle of global positioning system and inertial navigation system, together with the composition structure and the error model is analyzed deeply.Secondly, by comparing the effect of the simulation result of the Kalman filter algorithm and least squares estimation algorithm, coming to the conclusion of the Kalman filter is better than least squares estimation algorithm, which provides a strong theory and basis for the choice of what kind of filtering algorithm in the integrated navigation system.Finally, the design of GPS/SINS integrated navigation system implementations based on the above research, and the fusion algorithm based on Kalman filtering of GPS/SINS integrated navigation system are studied. The conventional Kalman filter is designed. The simulation implementation verified the validity and rationality of the design system, and illustrated the importance of application of the Kalman filter parameter estimation method in the Global Positioning System (GPS) and inertial navigation combination navigation system. |
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