Algorithm Research on SINS/GPS Integrated Navigation Syste
|School||Harbin Institute of Technology|
|Course||Control Theory and Control Engineering|
|Keywords||SINS/GPS Integrated Navigation System Signal Reconstruction Frequency-domain Kalman Filter|
The requirement of modern airplane for navigation system, such as accuracy and reliability, has become higher and higher, and single navigation system can hardly meet the demand. Integrated navigation is the correct way to solve the problem. SINS(Strap-down Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system with more advances has been a leading trend of navigation technology.Firstly, the thesis has a detailed discussion on GPS and SINS, elaborating the part of each system, principle of positioning, mistake model and model calculating, and accounting for the necessity of combing the SINS and GPS.Secondly, Rotation vector algorithm is studied in the thesis. Traditional rotation vector algorithms usually adopt polynomials to reconstruct the angular velocity, but they are inaccurate in high dynamic situation. Based on the signal reconstruction theory, the rotation vector algorithm based on the continuous reconstruction of frequency-domain for angular velocity signals are studied. The real time resolving of the attitude matrix in strap-down inertial navigation system is simulated. The simulation results show that the new algorithm is more effective than the traditional one in restraining the noncommutativity error in high dynamic situation. So it can improve the SINS precision.Thirdly, in order to meet the needs of integrated navigation simulation test, a reasonably simplified flight track model is studied. Based on the model, this thesis brings forward a mathematical method about how to produce stimulation flight track data and the SINS simulation data creation process.Finally, based on the research of principle and error model of the GPS and SINS, and the study of velocity/position for GPS/SINS, the thesis establishes the mathematical model of SINS/GPS integrated navigation. The model is simulated, and the results show that the Kalman Filter can improve the precision of the integrated navigation.