Research On The Technology Of Multi-sensor Information Fusion Of Integrated Navigation System

Along with the development of navigation technology, integrated navigation has become the most advanced navigation technology and one hotspot of research. At present,the integrated navigation system,that constitute of strapdown inertial navigation system (SINS) and global positioning system (GPS),is recognized as the most reliable integrated navigation system. SINS and GPS has its own advantages and drawbacks:SINS autonomy strong, can provide a short-term and high-precision information of speed and position, but has accumulative error; GPS can provide a long-term and stable precision information of position and speed,but easily be interferenced by environment. Combination of SINS and GPS can give the advantage of both two separate work to overcome the shortcomings. A external powerful sources of SINS from GPS can continuous calibrate SINS which make it possible for the navigation system to complete a long-time-navigation task at high-precision,and causes it become the most advanced navigation and positioning technologyMicro-electro-mechanical system (MEMS) has inherited and developed microelectronics technology, mainly because of its characteristic:small volume, light weight, low consumption, stable performance, low cost, easy digital and intellectualization. while the accuracy of strapdown inertial navigation system,based on MEMS,is lower than fiber and laser, but because of its high costperformance,if get very high application in low precision occasions.This paper mainly analyzed navigation system based on the combination of SINS and GPS, adopted the federal kalman filtering algorithm to finish integrated navigation system information fusion to obtain a precision navigation information. The major work and innovation points of this paper are presented as follows:The paper analyzed information fusion, inertial navigation system, global positioning system and kalman filtering algorithm, and decided to use loose navigation algorithms combination of position and velocity.The paper gave a data processing algorithm for output signal of the strapdown inertial navigation system sensors, in order to avoid or weaken temperature wave, random error of the inertial navigation system,the paper done temperature compensation, calibration experiment for the system,. In the end, the paper made high-low temperature test, turntable swing test, vibration test, emc testing to verify the stability of the system.The paper designed a data processing algorithm based on improved adaptive federal kalman filtering algorithm, and improved federal kalman recursion inverse filter algorithm by adopted matrix deposition and matrix calculated outside, in order to accelerate its speed, and improve the real-time of the system.