Investigation On INS/GNS Integrated Navigation System

Integrated airmanship is an effective methord for improving the holistic performance of the navigation system. This paper mainly focuses on the integrated airmanship based on the inertial navigation system(INS) and the geomagnetic navigation system (GNS).According to the disturbing character of random noise in geomagnetic signal, this paper adopts the method of wavelet analysis to achieve signal-noise separating which is based on the precision of geomagnetic signal using in the geomagnetic navigation system. Meanwhile the results of simulation have testified its correctness which is used in geomagnetic signal-noise separating.The INS and GNS are integrated to improve the long term precision of navigation system, which supply the gap of image and terrain matching. The matching arithmetic is also studied .It' mainly focuses on the precision of geomagnetic navigation system which only used in map mode, and presents a new matching mode by both image and calculating. The scheme uses geomagnetic declination and geomagnetic inclination as matching parameters to acquire rough position. Then the accurate position is obtained from calculating geomagnetic intensity by geomagnetic model. The velocity is acquired by accurate timing. The position difference and the velocity difference between INS and GNS is as measurements, meanwhile The difference is also as measurement which is between the value of magnetic field intensity with geomagnetic sensor in navigation coordination and the theoretical value of magnetic field intensity stored in magnetic field database; and the parameters is estimated using Kalman filter. The results of simulation under MATLAB show that the integrated navigation system improves the precision of navigation system greatly by eliminating the error of INS.The RTOS in CCS is convenient in designing of software. Several navigation functions is modified to some Task so that quick response is received. Every task is endowed with the corresponding PRI. The task runs in their homologous calculate periods. With the comparing of several CPUs,TMS320C6713 is used as navigational CPU according to the precision and speed while peripheral circuit is primarily...