Research On High Precision Integrated Navigation Technology Based On GPS And INS

GPS/INS integrated navigation technology represents the development trend of the current field of navigation, which implements the advantages of global navigation and positioning systems GPS and Inertial Navigation System INS.. GPS has long term accuracy, INS has no cumulative error and autonomy, Combines the advantages of interference, high reliability, shape, simple structure, high precision and the global navigation error is not cumulative characteristics such as reconnaissance, tactical missiles and other military aircraft control has important applications in the field of value in three-dimensional geodetic, marine development and automotive autopilot and other fields have broad prospects. Compared with foreign advanced technology, our research work in this area is not yet in-depth, the urgent need for the coupling integrated navigation and data processing aspects of in-depth study, the paper work was carried out to address the problem, the main research contents are summarized in the following five areas:one for GPS satellite navigation system, the principle and application characteristics, analyzes the GPS navigation system sources of error and failure mechanisms; Second is the INS key acceleration and gyroscope sensor working principle is analyzed, using multi-sensor fusion way to overcome the problem of a single sensor gross error, to obtain accurate acceleration, velocity and position data design is based on a small fiber optic gyroscopes and accelerometers quartz flexible installation, gyroscopes and accelerometers for performance testing and analysis, respectively, analysis of the nonlinear characteristics of the sensor, establishment precision gyro drift model, analysis the error of INS. Three is to study the GPS/INS integrated navigation system observability properties, using earth-fixed coordinate system (ECEF) coordinate system is based, based on nonlinear dynamics model error, respectively, of loose coupling and tight coupling consisting of two forms navigation equations observability is analyzedanalysis the stabilize of Kalman filter algorithm,Four is to study an improved joint Kalman filter algorithm and apply integrated navigation light combination. Fault-tolerant architecture, effectively detect gross error, GPS speed transitions and filters error estimates failures, fault isolation in a timely manner, so that the system has good fault tolerance. Improve navigation and positioning system accuracy, robustness and fault tolerance. Five experiments is to establish integrated navigation system and the static experiments under transient conditions are given GPS/INS navigation system observability of necessary and sufficient conditions. And using a numerical simulation method GPS/INS integrated navigation system under the form of the two coupling characteristics of the simulation, the. simulation results show that the union Kalman filter algorithm has a better performance. This paper concludes with GPS/INS integrated navigation technology integration model and fault tolerance for the further experimental study has laid a good foundation.