Research On Technique Of Performance Evaluation For GNSS/INS Integrated Navigation System

Integrating the advantages of INS and GNSS, GNSS/INS integrated navigation system is widely applied in high precision military and civilian field, for its precise guidance ability and all-weather work ability. With the improvement of GNSS/INS integrated navigation system porformance requirement, research of the system evaluation technology is becoming increasingly important.In the paper, the performance evaluation technology of GNSS/INS integrated navigation system applied in tactical missile is chosen as research objective. To begin with, brief introduction on development and application of GNSS/INS integrated navigation system is given out, domestic and international research condition and development tendency of system performance evaluation technology is analyzed and summarized.Then, Error analysis of the GNSS/INS integrated system is completed, with modeling and compensation of the gyroscope through ellipsoid fitting and Allan variance analysis processed the certainty error and random error respectively, the error sources and influencs of INS, GNSS and integrated systems are researched. Refer to the relative general specification documents, performance evaluation indices are put forward for the GNSS/INS integrated navigation system.Based on the evaluation indices proposed of GNSS/INS integrated system, evaluation methods and scheme are put forward, researching the system data flow, control flow, work flow and the hardware and software deployment, as well as analysis of the key technology on time synchronization and system delay measurement.Finally, based on the existing equipment including biaxial rate turntable, GNSS satellite navigation simulator and real-time simulator, part of performance evaluation tests on GNSS/INS integrated navigation system are carried out, with the attitude and heading reference system MTI and autopilot AP101 as measured products, to verify the effectiveness of evaluation methods proposed.