Optimization Design And Simulation Of Integrated Navigation Algorithm Based On GPS/SINS

With the continuous development of science and technology, including the electronic, sensor and other key technologies of continuous breakthroughs and innovative navigation systems become more and more complex, at the same time the requirements of navigation systems are becoming more and more high. How to effectively isolate the system failure, improve the stability of the system, and achieve the high reliability of the system has become an urgent need to solve the problem in the navigation field. In this thesis, a new optimization design scheme is proposed based on the combination of the global positioning system and inertial navigation system (GPS/SINS).The main work accomplished in this thesis are as follows:(1) The thesis introduces about the background and significance of integrated navigation and the research status from domestic and foreign.(2) The principle and design of inertial navigation、initial alignment technique、 the application of geomagnetic sensor in inertial navigation、the principle of integrated navigation、the fusion and algorithm implementation of Kalman filter and inertial navigation are described in detail(3) The thesis put forward a new improved scheme based on Inertial navigation system composed of MEMS gyroscope and accelerometer, which kalman filtering algorithm is used for the optimal fusion of inertial navigation system and GPS data to obtain Navigation results with high accuracy.(4) The calibration and deviation compensation of inertial device by the three-axis turntable, and using matlab to fit the data collected, through the graphics of fitting data to analyze the navigation results.The improved GPS/SINS integrated navigation system including strapdown inertial navigation system, magnetic sensors and high dynamic performance of GPS receiver. The system which is applying combined speed and position and improved 15-dimension Kalman filter algorithm, made SINS and GPS’ data optimal fusion to get high-precision navigation data, directs spinning flight vehicle to hit their targets. Compared with the traditional GPS/SINS integrated navigation system, this thesis introduces the magnetic sensor on inertial navigation system attitude Angle of cumulative deviation correction, extends kalman deviation compensation for gyro, implements high precision navigation under the condition of gyroscope and large accelerometer deviation.