Research On Key Technologies Of Inertial Navigation And Satellite Navigation System Combined Positioning Technique

Nowadays,the requirements of navigation positioning accuracy are getting higher than before in the world.Global positioning navigation system(GPS)can provide high precision and long time navigation and positioning information,but it has strong dependence on the external environment and easily to be disturbed by the environment,resulting in insufficient number of visible stars,even leading to position failure.By comparison,inertial navigation system(INS)is an autonomous navigation system,using sensor to measure the carrier contrast and angular velocity,less affected by the environment.However,due to the restriction of the manufacturing level,inertial navigation devices are subject to have some initial errors,and these kinds of errors could be accumulated over time,thus inertial navigation system is not suitable for long time navigation.Based on the above analysis,it is great significant to realize the integrated navigation by using the characteristics of short time precision of INS and long time stability of satellite navigation system.This dissertation mainly studies the key technology of the integrated positioning of INS and satellite navigation system.Firstly,the integrated navigation system generates the trajectory of the carrier through software simulation,and calculates the specific force and angular velocity of the inertial navigation system from the generated trajectory.Then,in order to complete the INS simulation,the accelerometer mathematical model,gyroscope mathematical model and error model are constructed,the specific force and angular velocity information are used to be the input of INS to complete the calculation INS process,the navigation information such as position,velocity and attitude angle can be obtained.Secondly,the model of satellite navigation system is constructed,the GPS errors are added to the carrier trajectory to generate the satellite navigation information.At last,the state equation of integrated navigation is formed by the difference of position and velocity between INS and GPS,the optimized navigation information is obtained by kalman filtering.Through the combined positioning of Matlab simulation INS and GPS,the error analysis could be carried out.It is found that the integrated navigation system fusion positioning algorithm can improve the navigation system accuracy and stability.