Research Of GPS/SINS Integrated Navigation System

GPS/SINS integrated navigation system gathers the merit of both GPS and SINS. It has the trait of high precision, good stability and small cubage. It is one of the development directions of modern navigation system. In this paper, the integrated SINS/GPS system is studied; the simulation system is designed based on the system.First, the simulation module of SINS is designed based on an in-depth study to SINS; the deep analysis to the error of SINS is given through the module. Again, according to the principle of GPS, the source of errors is analyzed; the accepted errors'model is established. Next, using the errors'models of SINS and GPS, the position-velocity mode of Kalman filter is designed; then, the integrated system is simulated, through the result, we find that the integrated system has been improved in precision and stability than SINS or GPS, and the process of simulation is right. Last, a fuzzy adaptive Kalman filter is designed for the status that the system and measuring noise are not ascertainable; From the simulation of it, we get a conclusion that the fuzzy adaptive Kalman filter can reduce the errors'increase of Kalman filter and has higher precision.