Combination Of Technology, Marine Ins / Satellite

The SINS/GPS whole integrated technology is a method which combines the strap-down inertial navigation system(SINS) with satellite navigation system using software, that is, the original data from navigation sensors are transmitted to navigation calculator and processed in a Kalman Filter. Therefore, the optimal navigation information can be gained. In this thesis, the shipborne low-cost SINS/GPS whole integrated navigation technology is researched; the major researches can be divided into four parts:In the first part, the design theories and techniques of shipborne SINS/GPS whole integrated navigation system are researched. Firstly, based on the error models of SINS, IMU and GPS, the error model of SINS/GPS integrated navigation system is established and simplified. Secondly, some methods of SINS/GPS integrated system are analyzed and compared, and then two new SINS/GPS integrated navigation system are designed: one is all-attitude angle + velocity integrated system which has high precision; the other is yaw angle + level velocity integrated system which has high calculating speed. At last, the models of Kalman Filter for the integrated systems are established.In the second part, the shipborne low-cost SINS/GPS whole integrated navigation system is simulated by a digital computer. Based on Matlab/Simulink, the emulators for the two kinds of SINS/GPS integrated system are designed, and the results of the emulation experiments show that the designed systems are feasible and reliable. The results also indicate that: The attitude angle precision of the SINS/GPS system which is integrated by all-attitude angle + velocity, whose gyro drifting is 3° /h and accelerator offset is 0.0001g, is better than 2'; and the SINS/GPS system integrated by yaw angle + level velocity, the precision of attitude angle is better than 3'.In the third part, the reference frame synchronization in SINS/GPS navigation system which is integrated by attitude angle is researched. The reasons of non-synchronization between GPS antenna reference frame and body reference frame are analyzed, some methods to solve this problem in static and dynamic environments are presented, which are valuable to the practical application of SINS/GPS and attitude determination integrated navigation system. The results ofthe experiments also show that the means of reference frame synchronization are feasible.In the last part, the software design of the GPS/SINS integrated navigation system is discussed; Based on the existing equipments, the experiments of GPS/SINS navigation system which is integrated by only attitude angle are carried out. The results of experiments indicate that: The attitude angle precision of SINS/GPS system which is integrated by only attitude angle, whose gyro drifting is 10° Ih, is better than 0.1°.