.gps / Ins Integrated Navigation And Positioning Direction Finding System

With the development of science and technology , single navigation locating and directing system can't satisfy the need to the precision of navigation and locating and directing in the military field and public field .The integrated navigation system have been applied to many field for it's high precision and lower cost .The integrated navigation system composed of inertial navigation system and Global Position System have been to the trend of the navigation and locating and directing system .This thesis discusses some technical problem of GPS/INS integrated navigation system : deduces the error compensation algorithm of the error model of inertial measurement component(such as gyroscope and accelerometer ) , and presents the method of separating the coefficient of the error model; discusses the theory of high accurate north-seeking with double free dimension flexible gyroscope and accelerometer ,infers the north-seeking calculate-formula with error compensation , achieves fast and exact inertial alignment with result of the north-seeking ,and test shows the results are satisfying ; deduces the algorithm and error equation of the strap-down navigation system with the new coordinates (inertial position geography inertial coordinates); study the algorithm of INS/GPS integrated navigation system , infers the state equation and measurement equation of the Kalman filter within the integrated navigation system etc.