.sins / Gps Integrated Navigation System Filtering Algorithm Research And Engineering To Achieve

In this paper, the integrated navigation system of strap-down inertial navigation system and global positioning system is studied deeply. First of all, the key technologies of integrated filtering algorithms are systematically studied. Kalman filter plays decisive pole in integrated navigation system. Quality that the filter is designed influence the output of the integrated system. Through real application, because the motive mode] of carrier is inaccurate, meanwhile, contained outliers in the data of GPS interfere the precision of filter seriously.In the paper, combining the characteristic of the integrated system, the filter algorithms of system are modified. On the basis of hardware with existing system, needn' t increase measuring equipment in addition, acceleration information which is measured by inertial unit get to filter algorithm. Deriving through mathematics and experiment, the algorithm is proved validity and superiority. Finally, the algorithm is proved exactness by real car experiment. The results of test indicate that the navigation accuracy of integrated system is improved greatly.