Study On The Integrated Navigation Of SINS And GPS

The thesis has made a research on the Strap-down Inertial Navigation System (SINS), the Global Positioning System (GPS) and the Integrated Navigation System. The information received from navigation sensors (Accelerator, Gyro, GPS Receiver) is sent into navigation calculator, which is processed by Kalman filter to obtain the optimum navigation information.Firstly the mathematical model of SINS is built in great detail; the software arrangement of SINS is completed, and the error of inertial navigation system is studied, which serves as the preparation for the further research of SINS/GPS navigation system. It is noteworthy that the navigation error was greatly influenced by the precision of gyro and accelerator, and thereupon, high precision inertial parts should be selected if possible. Based on the realization of SINS, the main error sources of GPS were studied and correspondingly, its model was established. In succession, the integrated navigation of position/velocity for GPS and SINS were also established, and SINS and GPS integrated navigations were realized by Kalman filter. A great number of simulation experiments were conducted on the basis of the given material items of GPS/SINS, and the results showed the precision of SINS/GPS was improved compared with that of SINS. GPS/SINS navigation system could greatly improve the navigation precision and reduced the request of the inertial parts.