GPS/SINS Integrated Navigation And Attitude Measurement Design

This thesis is vehicle navigation as the background and analysis of Strap down InertialNavigation System (SINS) navigation system and global positioning system (GPS) navigationsystem principle and error. Thesis is based on the Kalman filter GPS/SINS integratednavigation system using GPS-aided position and velocity information to improve navigationparameters.The current single-antenna GPS system is unable to complete the measurement attitudefunctions. The calculated attitude error is relatively large, using the method by SINS attitudematrix, due to the inertia characteristics of the drift component. Researching foundationKalman data fusion algorithms, it uses electronic compass attitude to join a multi-informationdata fusion to correct SINS attitude angle output On the FPGA and DSP hardware platform,considering the advantages of the electronic compass attitude angle measurements. Theattitude angle measured is analyzed by drawing and3D model demonstration。The GPS/SINS integrated navigation simulation is simulated in Matlab platform GPS/SINS integrated navigation simulation and achieve the attitude measurement vector in FPGAand DSP hardware platforms. Simulation results show that GPS/SINS integrated navigationposition and velocity accuracy has been improved, and attitude angle accuracy is improved,using the complementary filter.