Research On The High Precision GNSS/INS Integrated Navigation

Precise point positioning is the high precision of single point positioning technology.Since 1997,Zumbeger put forward precise point positioning technology,many experts and scholar research deeply from the aspects of model and algorithm at home and aboard.Precise point positioning is widely used in the field of Measuring,Surveying and Mapping.As the constant improvement of the data processing model,Strapdown inertial navigation system is autonomous navigation system,having the advantages such as atability,reliability.But,GNSS and SINS have advantages and disadvantages.GNSS can ensure the real-time position,only when receiving four or more satellites at the same time,bad environment can not locate etc.INS is a reckoning system,having the property of error accumulation,therefore can not be used for long-endurance alone navigation system.So according to the two complementary characteristics,further study of GNSS/INS integrated navigation is presented.GNSS/INS integrated navigation has great value both in military,surveying field,which has always been researched both in home and aboard.This paper mainly focused on single-frequency precise point positioning principle and technical details,meanwhile analyzing the IMU Error Characteristics.Then,arrangement the integrated navigation algorithm and starting from the two aspects of theory and practice,further researched the integrated navigation of Precision Satellite Navigation and Strapdown Inertial System.Main contents and innovations are below:1.Leading to the principle and a number of error sources.On the basis of the standard single position,we have to linear the nonlinear model.Using the Kalman for optimal estimation.2.Consideration the errors and giving the method of how to eliminate and decrease the errors.In view of the ionospheric delay put forward half-sum model and use IGS ionospheric grid correction model to eliminated pseudo-range equation.3.Deriving the GNSS/INS integrated navigation algorithm.Based on IMU device parameters,selected the system state dimension and calculating,analyzing the measured data in order to verify,analyze integrated navigation algorithm.4.Researching the differences of Single-frequency and Standard Single Point Positioning in integrated navigation system.At the same time,in view of actual vehicle,airborne collecting data,analyzing the 9d,15 d Kalman filter,then getting some useful cnclusions.