2009•Jisuanji fangzhenRequires access

Fully Integrated SINS/GPS Navigation System Based on Federated Filters

Xiaokui Yue

Abstract

Traditional strapdown inertial navigation system(SINS)/Global Positioning System(GPS) integrated navigation system usually uses position and velocity as observations.And its observability is relative to flight trajectory of carrier,which often affects the precision and reliability of integrated navigation system.To solve the problem,a scheme of fully integrated SINS/GPS navigation system based on Federated Filters was investigated;transformation relation between attitude error and misalignment angles was derived;mathematic model of fully integrated SINS/GPS navigation system was established;some simulations using federated filters were done.According to the simulation results,the fully integrated SINS/GPS navigation algorithm based on federated filters improves navigation precision and reliability effectively.

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Key concepts: Global Positioning System, Inertial navigation system, Navigation system, Computer science, GPS/INS, Transformation (genetics), Reliability (semiconductor), Observability