Simulation Research On GNSS/INS Integrated Navigation

GNSS/INS integrated navigation has been widely used in many fields,such as military,industry and civil.Computer simulation is an important technique for investigating the performance of GNSS/INS integrated navigation.However,current approaches have some drawbacks in analyzing the effects of different models and parameters on the integrated navigation system.To solve this problem,this thesis focuses on building a unified simulation framework to comprehensively study the performance of GNSS/INS integrated navigation.Firstly,the navigation models are built and two single navigation systems,strapdown inertial navigation system(SINS)and global navigation satellite system(GNSS),have been quantitatively investigated with simulation under different conditions(different coordinate systems,different grades of inertial sensor,different initial conditions,different carrier motions,etc.).The advantages and disadvantages both for the SINS and GNSS have been analyzed.Secondly,a model for GNSS/INS integrated navigation has been constructed.Two integration approaches including loosely-coupled and tightly-coupled are used to study the navigation performance.The differences between the above two integration methods are shown by simulation.Lastly,comprehensive experiments have been conducted to investigate the performance of GNSS/INS integrated navigation under different carriermotions(car,ship,airplane,etc.)and different grades of inertial sensor(consumer,tactical,aviation grades).The navigation errors are quantitatively analyzed.The simulation framework built in this thesis can be used to analyze the effects of error sources and fully evaluate the performance of integration navigation system.Thus,this simulation framework could help the designer to assess the validation of system and choose the optimal solution with consideration of cost and performance.