.gps / Sins Integrated Navigation System Simulation

In this paper, shorter-range missile as the target, GPS/SINS integrated navigation system had studied. The system is a modern navigation system, combines the SINS of autonomy and the advantages of modern high-precision GPS. This system has the specialty of high precision, good reliability and small volume. It is one of the development directions of modern navigation system.Firstly, this paper analyses the principle of strapdown inertial navigation system are discussed SINS mechanized arrangement and error analysis; and then analyzed the principle of GPS positioning and error sources for the establishment of trajectory generator, accelerometers and gyroscopes simulation models, build SINS and GPS simulation platform has laid a theoretical basis.Secondly, based on integrated navigation system needs, this paper selected a specific DSP chip and build integrated navigation hardware system. And it introduced ADC, FPGA and power supply systems etc. in detail According to the previous strapdown algorithm for programming, this propose a viable software design.Again, to conventional Kalman filtering theory was systematically expounded, derived discrete system state equation and measurement equation. From studies in the system noise and observation noise statistical properties are not sure, conventional Kalman filter can cause filter divergence.At last, for the conventional Kalman filtering divergence phenomenon, this paper research improved adaptive Sage-Husa filter. In the use of observational data recursive filter, while it is through the time-varying noise statistics estimators, real-time estimation and correction system noise and observation noise of statistical characteristics. it reduce the model error, suppression filter divergence and improve filtering accuracy, and simulation of the filtering algorithms. The simulation experiments verify the effectiveness of the improved adaptive filtering, it can appropriately reduce the level of divergence of the Kalman filter, improved the system's navigation accuracy and reliability.