Research On GPS/INS Integrated Navigation System And Filtering Algorithm

Integrated navigation technology in the spring tide of the world shed arises at thehistoric moment, more by the country, the research scholars’ attention. A variety ofdifferent combination model of integrated navigation technology also then have sprungup, the advantages and disadvantages coexist, of which belong to integrated GPS/INSnavigation and positioning technology rely on obvious advantage become themainstream of the integrated navigation technology, growth for integrated navigationpositioning fields.Global satellite positioning system (GPS) is the international most advanced hasglobal coverage degree, environmental all-weather, data precision, real-time positioningof the excellent navigation and positioning system, but the anti-jamming performance ispoor, vulnerable to the outside environment influence, exists signal unstable situation.Inertial navigation system (INS) is with independent navigation ability, independentoutput movement carrier speed, position and posture information, but system positioningerror as time long and increasing. Will both efficient and effective combination canexpand their respective advantages, to reduce or overcome shortcomings, using GPSprovide high accuracy of real-time navigation and positioning information to guide INS,real-time correction over time and accumulated error, can satisfy the demand ofnavigation and positioning accuracy, Using INS real-time precision navigationinformation can be fixed by GPS receiver failure or building keep out and don’t providenavigation information state.Due to the integrated navigation system is the key to success is the data fusiontechnology, in this paper, the kalman filtering technology to carry on the thoroughexplanation and research, a variety of different filter algorithm fusion, the author hopeto detailed understanding of the different condition and filtering fusion results for theenvironment, including linear kalman filter and spread kalman filter, filtering, strongtracking filter, improved filtering algorithm. This paper chooses GPS/INS integratednavigation system, using the above algorithm established error model, the use ofposition, velocity, combination model equation of state to achieve a variety of differentfiltering experiment. The results show that GPS/INS integrated navigation validity of the model, extended kalman filter, filtering, improved filtering algorithm in accuracyand stability than the conventional filtering has more excellent sex.