Study On Position And Attitude Determination Based On MEMS Inertial Components For INS/GPS Integrated Navigation

With the development of Micro Electromechanical System (MEMS), theapplication of MEMS inertial sensors in integrated navigation appears to be focus incurrent research.The way of INS/GPS integrated navigation combines the short-termhigh-precision performance of the INS and the long-term high-precision performanceof GPS, overcome their own shortcomings and learn from each other, atfer they arecombined the accuracy of navigation is higher than the two systems to work alone,and it is the ideal combination in navigation ifeld.For low-cost MEMS inertial measurement unit, a system solution of INS/GPSintegrated navigation system based on MEMS inertial components is proposed, andcombined with the existing conditions of the laboratory to do some simulation andsemi-kind navigation expeirments:The positioning pirncipium of GPS and INS is analyzed, and then deirved thealgorithm of attitude update, location update and speed update in inertial navigationsystem. The paper analyzed vairous error sources which affected the positioningaccuracy of the inertial navigation system and GPS, establish the error models anddeirved error equations of the two systems.The Kalman ifltering methods used in the integrated navigation system have beenresearched, and decide to use Extended Kalman Filter, the state equation andobservation equation of the integrated navigation system have been given. Accordingto the different combinations of integrated navigation system, the simulation analysisto loosely-coupled and tightly-coupled is performed with the help of MATLAB, theresults show that the tightly-coupled can achieve higher accuracy than theloosely-coupled.The algorithm of integrated navigation has been applied in the expeirmentalnavigation platform which consist of GPS and inertial navigation prototype, it provesthat the algorithm of integrated navigation can effectively suppress the divergence of the pure inertial navigation ’systems error, and can improve the error accuracy of theattitude angle, position and velocity of navigation system. To verify the feasibility andpracticality adopted in the navigation prototype as well as the algoirthm of integratednavigation.