Research Of Filter Algorithm For SINS/GPS Navigation System

As important navigation methods, Strapdown Inertial Navigation System (SINS) and Global Positioning System (GPS) have been used widely. At the same time, Integrated Navigation System reducing costs while enhancing the navigation accuracy has become an important development direction of navigation technology. The SINS/GPS integrated navigation system becoming famous in research and practice is an ideal integrated mode which integrates the good properties of SINS and GPS, has advantages of good reliability and high precision.Low-cost Strapdown Inertial Navigation System, due to the lower gyroscope Signal-to-Noise, often has a big misalignment azimuth angle, so it is important to research SINS/GPS integrated navigation system with a big misalignment azimuth angle.First, the thesis introduced present situation of navigation system and the basic principle of SINS and GPS, established the error model of GPS and SINS with a big misalignment azimuth angle, and clarified the status equations and the measurement equations of the navigation system.Secondly, the thesis introduced EKF,UKF,PF,Rao-Blackwellized PF respectively.Finally, the thesis simulated the SINS/GPS integrated navigation system according to tightly coupled mode. The simulation system incuded: the simulaton of the carrier locus, the simulaton of the output results of gyroscopes and accelerometers, the simulaton of SINS and GPS. On the basis of the established status equations and measurement equations, the filter methods above were applied in the integrated navigation system.