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《Journal of Shenyang Ligong University》 2012-06
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Simulation Research on the Technology of the Loosely-coupled SINS/GPS Integration

LIU Huadi,DUAN Zhimin,WANG Lei(Shenyang Ligong University,Shenyang 110159,China)  
To improve the accuracy of mobile carrier real-time position and attitude information measured by SINS directly,used as a sensor based on MEMS inertial components of the SINS and GPS,DSP and FPGA as the computing and communications devices,loosely coupled and integrated navigation system is achieved.In algorithm,the Kalman filter is extended.The system dynamic equations of the SINS error model of 15-dimensional state variable,by measuring the difference between the SINS and GPS position and velocity as the amount of real-time filtering,the state of the navigation system is estimated,and then the system errors are corrected.The results show that,the accuracy of position error and velocity error can remain at about 10-2 fluctuations by using Kalman filtering method.
【CateGory Index】: TN967.2
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