Research And Implementation Of GPS/SINS Integrated Navigation Based On Kalman Filter

Navigation and positioning have always been the focus of research for military and civilian areas at home and abroad,with the process of intelligent escalating carrier platform,the single navigation system has been too difficult to meet the requirements of technology application and development.Therefore,the multi-system combined navigation is more and more concerned by scholars in the field of scientific research.In this paper,the global satellite navigation system and strapdown inertial navigation system in-depth analysis of their respective advantages and disadvantages Combining GPS and SINS for positioning through Kalman filtering algorithm,integrating the main advantages of the two and complementing their advantages,it can ensure higher accuracy and reliability of the system,so that its overall performance is far larger than a single independent system.First of all,the paper describes the research purpose and significance of the subject,analyzing the development status of combined navigation at home and abroad.And also introducing the main work in the chapters of this paper.Then,the essay is researching the principles of GPS and SINS of their work separately,introducing the coordinate system that is involved and also giving the conversion method.Analyzing the errors sources affecting the GPS positioning accuracy one by one and giving the corresponding correction model,Studing the mechanical layout of SINS,it's attitude equation bases on "quaternion" algorithm,and speed equation and position equation,SINS attitude update equation,velocity update equation and position update equation based on "Quatemion" algorithm are analyzed.Giving the error equation and according to the actual situation,the running track of the carrier is designed and verified by experiments.Moreover,through analyzing the working environment of the carrier,a kind of combined navigation loosely coupled mathematical model suitable for short-term operation is designed.The Kalman filter is introduced and the filtering process is given,and the test results show that SINS/GPS combined system navigation can solve the SINS long time cumulative divergence problem,but also to avoid the use of lower GPS refresh rate alone,and ensuring the real-time navigation and positioning accuracy.Finally,summary of the paper that the design can meet the needs of low-cost,small carrier platform,and prospects for the next step in the future.