Research On SINS/GPS Integrated Navigation Method

This paper mainly studies the SINS/GPS integrated navigation system, which is of high precision, good reliability and small volume. It is a modern navigation system which integrates the independence of SINS and the high degree of accuracy. It is the one of the developing directions of modern navigation system. Firstly, this paper analyses SINS and GPS theory, the error of SINS and establishes SINS simulation model. The integrated navigation of position/velocity for SINS and GPS are studied. The integrated system is emulated by Kalman filter technique.SINS/GPS integrated navigation system is a complex system including lots of content. This paper focuses on the strap down inertial navigation and integrated algorithm. The content of this paper includes three aspects:Analyzed the theory of strap down inertial navigation, discussed its mechanical arrangement and error model analysis. Based on this theory analysis, the track simulator, gyro emulator and accelerator emulator are established. Then use Matlab to build a strap down integrated navigation flat, and the error characteristics of SINS were simulated.Based on the research of integrate models of SINS/GPS, the estate equation and the measure equation of centralized Kalman filter were established, the position-velocity integrate Kalman filter was simulated. Contrast with SINS, the SINS/GPS integrated navigation system enhance navigation precision and satisfy the navigation requiring.According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched, from it could find that this filter have good future in the project.Finally, based on the real engineering project, this paper also treats the preliminary of the application and realization of SINS/GPS.