The Kalman Filtering Technology Research On The GPS/INS Integrated Navigation

Kalman filtering method is the main method of data processing in GPS/INS navigation, in order to improve the new observation data utilization introduced the attenuation memory, this method can effectively increase the new measurement value of the weight at the same time also can faster realize the filtering convergence. If the GPS lost lock, the application of this method will increase new INS observation weight. In a short time, the error is not obvious, but when lost lock for a long time, the error will be obvious. Aimed at the phenomenon of attenuation memory kalman filter method error increase as weight, we present an improved attenuation memory kalman filter method. According to the principle of integrated navigation, apply the kalman filtering model and the attenuation memory kalman filtering model, through the simulation test program calculation gets the navigation solution.The computed results shows that:the application of kalman filtering technology can make integrated navigation system navigation precision improved; Attenuation memory kalman filtering technique may improve the utilization rate of new observations; Improved attenuation memory kalman filter can be a certain extent inhibit the phenomenon of GPS fails attenuation memory kalman filtering method error increase as weight. Improved attenuation memory kalman filter can provide better services for the car’s navigation and positioning, especially in the area of no GPS signals.