Design of GPS/INS Integrated Navigation System Based on Multisensor Information Fusion

摘要

Two kinds of design methods of GPS/INS integrated navigation system are presented, that is GPS/INS integrative system and integrated navigation system based on information fusion. By analyzing mathematics model of the first system error, we found that inertia velocity error would cause code loop track error. Consequently, the pseudo range meterage error is interrelated with inertia velocity error, which is complex to calculate. If this relativity is ignored in the state equation and observation equation of this system, it must affect the estimated precision of the kalman filter and maybe the system is unstable. Therefore, the second integrated navigation method is introduced. It adopts information fusion, federal kalman filter and covariance. And consider the above pertinence to analyze the navigation performance of the integration system. Then it gives the flow of federal kalman filter algorithm. By analyzing, the conclusion is that velocity error of integrated navigation system drops from 0.5m/s to below 0.05m/s, and improves the precision and reliability of the navigation system effectively, well continuity and real-time capability. It provides an effective way for data analysis and process of fusion navigation system.