Research On Algorithm Of The Key Technology Of GNSS And INS Navigation Systems

Global Navigation Satellite System(GNSS) is an advanced radio navigation system. Although the Global Navigation Satellite System is expensive, the single user receiver is considerablely cheap and can be widely used in the general public. More important, the navigation precision has not the cumulated error. As the Global Satellite Navigation System uses the radio media to implement the navigation, the navigation and positioning function can not be realized in the place where radio waves can not reach. In the condition of complex electromagnetic environment(eg, the multipath interference of mountain area and the artificial electromagnetic interference), the performance of the global satellite navigation system will also be affected. Inertial navigation system(INS) is a totally-enclosed type system that does not depend on the the outside world. From this point, inertial navigation system has the properties of independence of external conditions, anti-interference, high stability, high precision of the short-term navigation, etc. On the other hand, the production is expensive and it also has the cumulative error. Inertial navigation system and global satellite navigation system has the characteristics of complementary advantages, the best filtering result can be obtained by integrating the two systems.Firstly, the Global Positioning System(GPS) is used as the research object in this paper and is employed in studying the working principle of the global satellite navigation system through it. On the basis of previous studies, the method of calculation the satellite signal transmission time is improved. The precision of this method is improved compared with the other research results, which has certain guiding significance to the high precision static positioning and navigation technology. In order to study the method of fast calculation of the position of the satellite, a sliding Newton interpolation method with adjustable order is designed. In the condition of ensuring the accuracy of the satellite position, the fast calculation of the position of the satellite is realized by adjusting the parameters and it provide the real-time data for the subsequent satellite real-time solution. After that, GPS IF digital signal simulation which including the satellite clock error, ionosphere error and troposphere error is simulated by using Matlab. The algorithm of acquisition and tracking satellite signals is also verified by programming.Secondly, we take the strapdown inertial navigation system as object of study in this paper and analyze the working principle of the inertial navigation system thought it. Referring to the previous research foundation, a set of flight process of aircraft is designed to verify the correctness of the algorithm in this paper. The inertia component is modeled and the output data of the inertial navigation component is calculated by using the flight data of the aircraft. Then, the output data of the inertial navigation component is used to simulate the inertial navigation solution. The results show that the simulation of the inertial navigation system is consistent with the function of the inertial navigation system. Then a numerical differential speed algorithm for calculating the position of the carrier is designed. Through the analysis of simulation results by Matlab, it is concluded that the convergence speed of the algorithm is faster than that of the non differential speed calculation algorithm. It is concluded that the height of carrier has little influence on the position of carrier through the comparison of the calculation method of the position of the non differential height carrier to the calculation of the position of the differential height. So the accuracy requirement can be satisfied by the height of the carrier calculated at the previous moment.Finally, on basis of the understanding of the global satellite navigation system and the inertial navigation system, a preliminary study on the algorithm of two integrated navigation systems is carried out in this paper. The state equations and measurement equations of three different kinds of integrated navigation systems are analyzed and discussed...