| In order to improve the accuracy and immunity of the SPAAG (Self Propelled Anti-Aircraft Gun),as while as react quickly when it is attacked by air and have a higher hit rate by stabilizing radar antenna, optical sighta and ray gun, GPS/SINS is a good solution .The accuracy is higher when the GPS and SINS are integrated, and the system performance will be improved greatly improved. For GPS , SINS can improve the ability of the Satellite tracking, dynamic characteristic and immunity of the receiver; For SINS, the calibration of the Inertial Sensors, the alignment and high stablility of the Inertial Navigation System can be realized, so that the Inertial Navigation System can have a better performance and accuracy.Based on the feasibility analysis of GPS/SINS on SPAAG, The navigation system based on GPS/SINS has been researched in this paper. Through carefully analyzing the principle of GPS and SINS, information fusion, design of Kalman filter and principle of initial alignment have been studied detailedly. By analyzing the various combining modes of GPS/SINS, the location and speed information combination which can be realized easily in engineering has been adopted and the accuracy of the navigation system has been improved by using the close-loop correction.The factors which will affect the accuracy of GPS/SINS when using in SPAAG have been analyzed carefully and the curves of navigation parameters of the car tests have been given, which lays a solid theoretical and experimental foundation for applying the GPS/SINS on SPAAG.Included in this paper are:Basic principles of SINS and GPS are introduced.The estimation methods of the GPS/SINS'status are given and the technology of the Information Fusion are described detailedly.Filters used in GPS/SINS are designed.The combining scheme and System equation of the navigation system are introduced.The car test of the GPS/SINS have been carried through and the data analysis has been carried out.
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