Research On Gps/ins Integrated Navigation System

The need of Inertial Navigation System/Global Positioning System(INS/GPS) augmentation system stems from the shortcoming of each individual technology.The stand-alone INS has superior short-term error performance, but position errors of INS are unbounded. On the other hand,long-term accuracy of GPS is good,but short-term accuracy is poor.The motivation for INS/GPS integration is to develop a navigation system that overcomes the shortcoming of each system.At the background of the certain especially basic research,this thesis mainly studies GPS/INS integrated navigation system,which aims to resolve the problems of practical application.The paper first outlines frames referring to integrated navigation,their transform matrixs,and the fundamental positioning theory of GPS and INS.Through the analysis of error property of integrated navigation,the error model of integrated system is designed.The Kalman filtering scheme is studied indetails.By analysing the filtering effect of the system noise and the measurement noise,and judging the radiation of filter based on innovation,an adaptive Kalman filter based on the modifiability of the measurement noise and the system noise is presented.Simulation results indicate that this method restrains the radiation in effect and improves the precision comparing with conventional Kalman filter.By studying GPS/INS integrated navigation system and ascertaining coupled model,a pseudo-range and pseudo-range rate measurement for the tightly-integrated navigation system are established,whose simulation can effectively improve the level of integrated navigation system position and velocity.On the base of tightly integrated model,a attitude error model with attitude measurements is prevented,whose simulation implies that the new model can improve the level of attitude.At last,with designing integrated navigation model,vehicle experiment confirms the efficiency of filter arithmetic and integrated navigation model.