The Study On Application Of Kalman In INS/GPS Integrated Navigation

ABSTRACT:INS/GPS integrated navigation can overcome the shortages of GPS such as the low precision in small range and easily lost signal in tunnel and under high building. And it can use GPS data to correct the accuracy diminish of INS when running for a long time. The INS/GPS integrated navigation had extremely wide range of applications,such as missiles, aircraft, robot navigation, vehicle autopilot and other fields. Therefore, the research of INS/GPS integrated navigation had a very important value and significance of engineering applications.In this paper, Inertial navigation calculation process was derived in detail, attitude matrix was calculated. Accelerometers and gyroscopes model were established in inertial navigation simulation. According to calculation of inertial navigation, inertial navigation program was written, and great circle navigation was used to design a carrier’s flight path, at the same time set the vector running attitude angles. The accuracy and precision were tested by comparing the position,velocity,and attitude information between the inertial navigation result and the given information by stimulation.The INS error model of position, velocity, and attitude was established. Linearization system error model was builded when assumed attitude angle error was small. At the same time the down angle of attitude was assumed big and other two attitude angles was assumed smaller then both were taken into account when nonlinear system error model was established. Meanwhile the initial alignment of inertial navigation was studied in this paper, and used the kalman filter done fine alignment when had GPS signal data aided.Kalman filtering algorithm in INS/GPS integrated navigation was studyed. Derived the linear discrete Kalman filter, meanwhile studied the adaptive Kalman filtering and proposed the fading Kalman filter based on the the innovation of covariance. At last did an experiment in the new campus of Central South University used the XW-ADU7612gesture orientation integrated navigation system. Used the Kalman filter data to fuse INS/GPS integrated navigation, in which the GPS signal lost50seconds was conducted in-depth research. The unscented Kalman filter, in which mainly derived the sampling process and the calculation process, was used in the situation when system error model was nonlinear.