Research And Application Of Information Fusion On Ship's Integrated Navigation System

The stand-alone SINS has superior short-term error performance, but position errors of SINS are unbounded. On the other hand, long-term accuracy of GPS is good, however it is affected by the environment easily and controlled by the U. S. Government. The motivation for SINS/GPS integration is to develop a navigation system that overeomes the shortcomings of each system. The SINS/GPS integrated navigation system has huge military, public worth and vast application foreground. Meanwhile, kalman filtering is one of the key technologies of information fusion in integrated navigation.Firstly, the paper introduces the basic principles of strapdown inertial navigation systems and establishes its system error model, GPS single-difference, double-difference of dynamic positioning method based on the observation equation of dynamic GPS.Secondly, the paper introduces Kalman filtering, EKF and UKF elementary theory, and their algorithm, and has studied UKF filter of mixed system deeply, pointes out that the mixed system which is composed by the linear system equation and the non-linear observational equation, may use the Rao-Blackedwellised Kalman filtering method to further simplify the filter computation.Thirdly, composites the SINS/GPS system model according to the depth, including the position and speed loose combination plan, with non-difference, single-difference and double-difference close combination plan based on the code pseudo-distance and the pseudo-distance rate again.Finally, uses the ships tentative data to carry on the Matlab simulation of EKF and RBUKF separately.