Attitude Determination Method Based On GPS/INS Integrated System

With the development of information and navigation technology, the timely and exact information of motion vector becomes particularly important.The attitude information carrier(yaw, pitch, roll) is one of the most important output parameters.For example, aircraft parts in the aerospace, ships at sea and driving on the roads etc.How to obtain the motion vector accurately is a hot topic in the field of research.This paper takes GPS/INS integrated attitude measurement system as the research object.First, the GPS / INS integrated attitude measurement system is studied and analyzed and introduce the basic principles of attitude determination and attitude determination method detailed for the following research theoretical basis.Through the analysis of posture error sources,the error model of integrated navigation system is designed.The Kalman filtering theory is studied.Two schemes are developed based on the single antenna GPS / INS integrated attitude measurement system and two-antenna GPS / INS integrated attitude measurement system.Focusing on two-antenna GPS / INS integrated attitude methods were studied.According to real state,this paper forms its error state equations and integrates observation equations.Considering the GPS / INS Integrated attitude measurement system,data fusion of the two systems and the nonlinear problems of integrated attitude systerm are the most critical technologies.Therefore, on the basis of conventional filtering,a federated Kalman filter based on UKF algorithm is constructed,designed the filter for each subsystem and main filter,and then set up the GPS/INS integrated attitude measurement system state equation and observation equation.Finally,the integrated attitude measurement system has verified and analyzed through two experiments.The first experiments is based on the single-antenna GPS / INS integrated attitude systerm of three-axis turntable.Experiments show that the single antenna GPS / INS integrated attitude measurement system is better than the effect of the pure inertial navigation system,applying to less precision systems.The second experiments, including static two-antenna GPS heading angle measurement test and dynamic car test.Through comparing among the pure inertial navigation system,INS/GPS integrated attitude measurement system and a federated Kalman filter based on UKF algorithm integrated attitude measurement system,it is clear to see a federated Kalman filter based on UKF algorithm is the best of attitude measurement.The precision is better than the single-antenna integrated attitude measurement system and suitble for high-precision.