Research On SINS/GPS Integrated Navigation System Based On The Carrier Phase

The Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) are highly complementary to each other. Integrated navigation technology can effetively improve the Performance of Navigation system. However,the usual integrated GPS/SINS navigation system couldn't meet the demand of high precision. This dissertation has mainly developed research work on improve the real-time position accuracy of the integrated navigation system.The main works include:1. The theory of SINS has been introduced briefly,and the gyroscopes,accelerometers,as well as the carrier's trajectory and attitude have been simulated.2. With GPS and SINS error equation,the position,velocity integration based on single frequency carrier phase are established respectively. According to the result of simulation,we can conclude:The integrated GPS/SINS navigation system based on single frequency carrier phase has a promsing prospect in military filed. a scheme of high precision integrated GPS/SINS navigation system based on single frequency carrier phase is proposed in the dissertation.It could observe directly and compensate SINS position error by using the high precision double-differenced GPS carrier phase measurements.3. The computation of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the appalication of carrier phase. Base on current research, this paper adopts a new algorithm of integer ambiguity. In order to resolve the cycle-slip of GPS carrier phase measurements,a fast algorithm is put forward to repair cycle slips and solve integer ambiguities renewedly by using the high precision position from integrated navigation system and the characteristics of SINS.