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GPS / SINS Integrated Navigation System

Author: LiuPeiWei
Tutor: HuangChunMei
School: Changchun University of
Course: Applied Computer Technology
Keywords: Integrated Navigation DSP Information Fusion Adaptive filtering
CLC: V249.328
Type: Master's thesis
Year: 2010
Downloads: 141
Quote: 1
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Abstract


In this paper, a short-range missile target strapdown inertial navigation system (SINS) were studied with a combination of global positioning system (GPS) navigation system . The system is integrated SINS autonomy and GPS high accuracy advantages of modern navigation system , navigation , high precision, high reliability , miniaturization , etc. , is one of the development of modern navigation system . First analyzed the principle of SINS discuss the mechanical choreography and error analysis SINS ; followed by analysis of the principles and sources of error of GPS positioning , to establish a trajectory generator and the gyroscope and accelerometer simulation model structures SINS and GPS simulation platform laid a theoretical foundation . Secondly , according to the needs of the integrated navigation system , select a specific DSP chip to build a combination of navigation hardware system , and one of the analog - to - digital conversion , FPGA, power system design are introduced in detail . According to the strapdown algorithm of the previous design , put forward a viable software design . Again , the conventional Kalman filter theory made ??a systematic exposition of the discrete state and measurement equations are derived . Studies can not determine the statistical properties of the system noise , measurement noise , the conventional Kalman filter can cause filter divergence . Finally , for conventional Kalman filtering divergence phenomenon , the researchers improved adaptive Sage-Husa filter , filter recursive use of observational data , through the time-varying noise statistical estimator , real - time estimation and correction system noise and observation noise statistical characteristics , thus reducing the model error suppression filter divergence , and improve the precision of the filter and the filtering algorithm simulation . Through simulation , to verify the effectiveness of the improved adaptive filtering , it is appropriate to reduce the degree of divergence of the Kalman filter , to improve the accuracy and reliability of the navigation system .

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Navigation > Navigation system > Integrated Navigation System
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