Air Guided Bombs Sins / Gps Integrated Navigation System

The design of low cost SINS/GPS integrated navigation system in guidance munition is given in this dissertation. Considering the special demands of the guidance munition which has high accuracy and low cost, the system is composed of low-cost IMU based on MEMS and GPS receiver. The system uses distributed multiprocessor architecture based on floating point DSP combined with FPGA, which has advantages of better real-time performance and higher operating accuracy. The SINS algorithm is deduced in details, which contains attitude update algorithm, velocity update algorithm, and position update algorithm. The sources of errors about SINS and GPS are analyzed, and the accepted errors' models are established. Based on the research of the data synchronization technology for SINS and GPS, a real-time synchronization method in which 1PPS from GPS is used as the time benchmark is presented. Because of the difficulty in modeling the MIMU system noise accurately, a fading memory Kalman filtering algorithm is designed to carry on the information fusion. A 15 step Kalman filtering equation based on the position-velocity integrated model is established. And the digital simulation to the integrated navigation system is researched. The excellent result of the run-in test indicates that the system's design is successful. The system has high precision in reckoning position and attitude, which can satisfy the requirements of guidance munitions.