Algorithm Research On SINS/GPS Integrated Navigation Base On FOG

Strapdown inertial navigation’s unique attributes is not depending on any externaldevices, but its error accumulates over time. In the case of a long time of navigation, theaccuracy becomes lower. However, the integrated navigation system of SINS/GPS cansignificantly overcome this kind of drawbacks. In this paper, a integrated navigation system ofSINS/GPS by position is studied, which is easy-to-implement project, low-cost andlow-accuracy SINS/GPS integrated navigation system, which combines with the existinglaboratory conditions of hardware and software.The thesis mainly includes:Firstly, to handle random error of the collecteded data the paper designs some kind ofdigital filters. On the base of analysed the inertial devices and IMU’s static error model,calibration experiments of rate and location are designed to get the error coefficient of theerror equation. At the same time, the correction equation is modified using the result ofcalibration experiment. And the bias and bias stability are obtained by the allan analysis.The paper analyses the basic working principles of system and navigation algorithms ofSINS.Through the observability of the initial alignment of SINS on a stationary base isanalyzed, the reduced-order filter is established.At the last of this chapter the paper simulatesthe strapdown algorithm using simulated data to prove the accuracies of the SINS algorithm.Through the analysis of inertial device performance this paper lists theinertial navigationsystem error propagation equations, studies about the intergrated algorithm of SINS/GPS,designs the Kalman filter algorithm using the position as the measurements, and completesintegrated navigation data fusion. In the environment of MATLAB software, through thesimulation geting IMU sampling data,these datas are solved with the strapdown andcombination algorithm to obtain the navigation parameter errors.After the contrast of thenavigation parameter errors in these two algorithms, the effectiveness and feasibility of theintergrated algorithm is proved.Finally, the static turntable experiment and the dynamic experiments of this integratednavigation system are designed, and the intergrated algorithm of SINS/GPS designed in thispaper is used to process the data collected by these experiments. The results of theseexperiments prove this algorithm greatly improves the navigation accuracy, proposes that thisintergrated algorithm could meet the actual project requirements.