Gyro Of Sins / Gps Integrated Navigation System

The gyro-free strapdown inertial navigation system(GFSINS) is only composed of accelerometers in which gyroscopes are not used. Using accelerometers instead of gyroscopes as the inertial measurement unit not only overcomes the demerit that gyroscope is difficult to support the large angle motion, but also reduces the volume and falls the price abruptly. The GFSINS has the advantage of low cost, low power consumption, long time running, high reliability, strong over loading and is widely applied to the military and the civil. The GFSINS is a navigation system of medium precision. An absence of gyroscopes leads to the accelerated growth of errors and the required levels of precision hard to achieve in short time, so the integrated navigation system of GFSINS and GPS is used. During motion the navigation parameter errors are adjusted by the data obtained from GPS, which meet the accuracy and time requirements for navigation systems.The innovative study and main work of the thesis are as follows:First, according to the work principle of the GFSINS, a new configuration of nine accelerometers is proposed. The design of the configuration is simple, which provides the redundant information of accelerometers and is benefit to the calculation of angular velocity.Second, three solution methods to solute the angular velocity of the carrier are adopted. The first method is to integrate the angular acceleration directly. The second is to extract the square of the angular velocity. The third is to adjust the angular velocity by the extend Kalman filtering algorithm, so as to improve the calculative accuracy of the angular velocity of the carrier.Third, the error of the axial acceleration and the angular acceleration are studied and formulated. According to the mechanical calibration equations of GFSINS the error equation of the system is derived.Forth, the GFSINS/GPS integrated navigation system is studied. The Kalman filtering algorithm is used to make the error estimation and feedback adjustment, the accumulation of the navigation error is inhibited and the positioning accuracy of the navigation system is improved.Finally, the low-cost GFSINS/GPS integrated navigation system is studied by simulation, which solves some technique problems in the application of solution of theangular acceleration in GFSINS and integrated navigation system. Simulation results show that the integrated navigation system has high navigation accuracy.