On data-fusion algorithm and simulation of INS/CNS/GPS integrated navigation system

The principle and characteristics of INS/CNS/GPS integrated navigation system are investigated,and the mathematic model of the integrated navigation system is established.Then data-fusion principles of centralized Kalman filtering and federated filtering are used respectively for simulation of the system.The defects of centralized Kalman filter when it is applied to navigation system are pointed out.The simulation results not only demonstrate that the inertial navigation system aided by Global Positioning System(GPS) and Celestial Navigation System(CNS) can substantially improve the navigation precision,but also demonstrate that the federated filter is an ideal algorithm of fault-tolerance information-fusion,which can improve the reliability of the navigation system.