Research And Implementation Of GPS/INS Tightly Coupled Fusion Location Algorithm

As the working time increases,the positioning error of the inertial navigation system gradually accumulates.GPS data update rate is low and its dynamic characteristics are poor.When the satellite signal is disturbed,the positioning accuracy is greatly reduced.Therefore,INS and GPS integrated navigation have become the hotspots of current research.First of all,this paper introduces the development background of INS and GPS related content and its current research status.Then briefly introduced the basic principles of inertial navigation system and GPS,and discussed the characteristics of the two systems.Several combinations of INS/GPS were analyzed.Aiming at the error model of the inertial navigation system and GPS working process,based on the establishment of the error model,select the appropriate state quantity and quantity measurement for data fusion.Finally,a tightly-coupled INS/GPS integrated navigation system is realized.In the process of data fusion,the problem of time synchronization in the data fusion of the two systems is studied.In order to reduce the continuous accumulation of errors in the inertial navigation system,a system parameter is used to perform the system static state.Determine and perform zero-speed correction.In data fusion,a dynamic weighted fusion method for assigning weights by using subsystem positioning errors is proposed.And test and verify its performance.By using MATLAB to simulate the established system model,the performance of the system is evaluated by the attitude error,velocity error and position error of the system output.By comparison,it can be seen that the relative performance of the improved system is better.Finally,we build a hardware platform to test the data fusion model and the improvements we have made.The results show that when using the hardware platform for pedestrian navigation,the static error can be controlled within 1 meter,and the dynamic error is generally within 1.5 meter.The system can meet the reliability and stability requirements of navigation results in practical applications.