Research On Algorithm Of GPS/INS Data Fusion In Land Vehicle

In the GPS/INS integrated system based on GPS OEM board, the data fusion includes: decoding of the original observations and ephemeris data received from GPS OEM board, decoding of the raw measurements from the INS system, GPS real-time point positioning, the navigation solution of INS, GPS/INS joint data.1. Analyze the binary data type received from the GPS OEM board, given the methods of decoding original data and developed data acquisition software.2. From the view of the INS system's working principle, developed data collection software according to other charges and data output format.3. Implemented real-time point positioning by Kalman filter using the real-time GPS observation and ephemeris data decoded from board.4. Research on the INS system's navigation and positioning algorithm and the error equation.5. Discussed the navigation algorithms of GPS/INS integrated system, developed navigation Kalman filter's state equation and measurement equation.