Research On Algorithm And Analysis Of Error In Integrated INS/GPS

Determination the exterior orientation elements of the photograph a is key issue in aerophotogrammetry. The traditional method is adopted to encryption photogrammetry to determine, which requires a large amount of ground control points. INS can provide attitude. GPS can provide the location. Combination and calculation of the two systems can aid or replace the traditional method.As the core technology of system software - Integrated Algorithms, it has been one of the hot spots in recent years. At present, there is not complete reasoning process in the technology, just stays in the program design. In this paper, a tightly coupled algorithm is derived based on the technical basis of our predecessors, and make the performance comparison and analysis between loose and tight coupling, I also do the analysis of the certain impact of error. There is the following main elements in this paper:1. Do analysis and study the relation between coordinate systems of strapdown INS, among which the conversion between the inertial coordinate system and the geographic coordinate system is important; Do analysis combination type of INS / GPS and time synchronization of two systems.2. In this paper, there are 20 parameters, for the pseudo-range and pseudo-range rate, the state equation and measurement equations are derived, and to determine the appropriate correction factor and the residuals. At the same time do comparatively analysis from the perspective of the theory and practice in loose and tight coupling, and make program improvement.3. Explore measures to improve the accuracy in accordance with the existing integrated algorithms and GPS technology, and in DGPS and PPP mode ,make compared test; analysis of errors, and explore the critical point in the application of technology in the aerial photography.In short, the scientific and rational integration algorithm is the premise of the two types of data giving full play to their advantage. This article carry out the INS / GPS combination algorithm for the INS and GPS according to the characteristics of the two systems data and the purpose of the combination and the status quo at home and abroad. At the same time, on the basis of the theory, I do analysis on errors and its impact in the view of application.