Gps And Sins Integrated Navigation System

GPS/SINS integrated navigation system gathers the advantages of both GPS and SINS. It has the specialty of high precision, good reliability and small volume. It is one of the development directions of modern navigation system. The content of this paper includes three aspects: l)The error models of GPS and SINS were studied respectively, and the error characteristics of SINS were simulated. 2) Based on the research of integrate models of GPS/SINS, the estate equation and the measure equation of centralized Kalman filter were established, and the position-velocity integrate Kalman filter was simulated. Contrast with SINS, the GPS/SINS integrated navigation system enhance navigation precision and satisfy the navigation requiring. 3) According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched. The inosculate models and the characteristics of fault tolerance were analyzed. And a kind of adaptive federated Kalman filter algorithm was researched.