The Research On GPS/INS Integrated Navigating Position And Orientation System

Navigation refers to methods and techniques of leading a moving object from the start to the end, whose basic task is to provide real-time navigating parameters for the moving object. Therefore, the navigation is actually generalized dynamic positioning. A system which can provide motion state including relative position, attitude, speed, etc. is generally called a navigation and position system.In ancient times, people knows to navigate through the sun, the moon, and stars especially the polestar to identify directions; at the present day, people navigate for ships by making use of lighthouse and other objects; With the development of science and technology, more and more means of navigation emerge, for example:radio navigation, inertial navigation, global satellite navigation. These means have their own advantages and disadvantages simultaneously. Single navigating system can satisfy precision requirements of navigation, position and orientation in the military field and public field no more.Integrated navigation technology is means and methods measuring the same source of information with two or more navigation systems (or devices). By using different characteristics of performances of different navigating equipment, it extracts and corrects errors of each navigating system from the comparative value of measured value, to improve performances of the whole navigation system. Integrated navigating position and orientation system has been gradually applied to many fields because of its comparatively high precision and low costs. Integrated navigating position and orientation system composed of INS and GPS turns into the developing direction of navigating, system.This thesis firstly describes history of navigating position and orientation system and the developing direction in the future, and introduces principles of the two navigation systems, analyze advantages and disadvantages, identity the superiority of integrated navigation, then discusses Integrated Navigation Algorithm of GPS/INS integrated navigating position and orientation system and deduces the state equation and measurement equation of Kalman filter within integrated navigating position and orientation system. Finally, the article makes simulation design of integrated navigating system, and explicates the correctness of the simulation system design and superiority of integrated navigation through comparison of the simulation results.