The Study Of Tightly GPS/INS Integrated Navigation System

GPS and INS are the two main types of navigation system currently, they may complement each other very well, which make GPS/INS integrated navigation system have an excellent navigation performance. The accuracy and reliability of the system can be improved further by combining GPS and INS raw measuring information. In this paper, the main research lays emphasis on GPS/INS tightly coupling navigation method, data fusion technology and the GPS receiver with INS aiding.Firstly, the dissertation gives a brief overview on the background and the development of the integrated navigation system. For a comprehensive evaluation of the navigation performance of the integrated system, the mathematical models of IMU and integrated navigation system are designed and simulated. To prepare for system simulation, the process of digital simulation is designed as well.In tightly integrated navigation system based on pseudo-range and pseudo-range rate, there exists nonlinear model which the traditional Kalman Filter can not treat it directly. To solve this problem, the traditional filter algorithm is optimized based on RBPF theory and the principle of integrated navigation system. The Kalman/particle Filter applied in tightly integrated navigation system based on pseudo-range and pseudo-range rate is studied and analyzed.To improve the comprehensive property of GPS receiver under the complex environment, the technology of GPS signal acquiring with INS aiding is analyzed by simulation, and the principle of GPS signal acquiring is analyzed firstly in this paper, the signal acquiring and tracking characteristics of GPS receiver are discussed in detail, and the acquiring technology of GPS receiver with INS aiding is deeply analyzed by simulation, and the acquiring method with INS aiding and common acquiring method are contrasted by simulation test and analysis. Finally, the characteristics of GPS tracking loop with INS aiding are analyzed, and the performance of GPS/INS ultra-tightly integrated navigation system is studied and analyzed under high dynamic environment.