Based On The Arm Of The Gps/sins Integrated Navigation System Research

Global Positioning System (GPS) and the Strap-down Inertial Navigation (SINS) are strongly complementary to each other. This research mainly focuses on the integrated navigation system of SINS and GPS based on ARM.Firstly, the research depicts GPS and SINS, and the current general situation of development, the fundamental principle, constitution and the advantages and disadvantages of the two sub-navigation systems are presented respectively. According to the complementarities of GPS and SINS system characteristic, the necessity and feasibility of integrated navigation system are introduced. Secondly, the fundamental principles of the Kalman filtering are described, and the centralized Kalman filtering, distributed Kalman filtering and adaptive Kalman filtering algorithms are analyzed. At last, the state equations and measurement equations of GPS/SINS integrated navigation system are established. Based on this, this paper carried out the GPS and SINS integrated navigation system. And uses the Kalman filtering based on location and speed of loose combination to complete the information fusion of GPS/SINS navigation. The study mainly focused on the basic components of the hardware platform of GPS/SINS integrated navigation system, design based on ARM and the design of software platform of embedded navigation system.Finally, according to the experiments under the static environment, using MATLAB tool to analyze the experimental data obtained by the integrated navigation system, the accuracy and reliability of GPS/SINS integrated navigation system based on the ARM are inspected and verified.