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《Piezoelectrics & Acoustooptics》 2011-04
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A Low-cost SINS/GPS Integrated Navigation closely

SHAO Li,LI Sihai,YUAN Yanhua(Automation College,Northwestern Polytechnical University,Xi'an 710072,China)  
There exist some problems such as the measuring information mutation caused by the receiver clock difference and the time synchronization of measurement data during the information fusion of the strap-down inertial navigation system/global position system(SINS/GPS) closely integrated navigation system in practical engineering applications.For this reason,a pseudo-range difference method has been proposed in this paper to effectively eliminate the mutation of the measured values and to make the filter converge to a valid value.On this basis,the use of polynomial fitting method of extrapolation can achieve the time synchronization accuracy.The static and dynamic sports car experiments on the improved SINS/GPS closely integrated navigation system have been carried out.The results showed that the horizontal position accuracy of 10 m and the speed accuracy of 0.2 m/s have been achieved in this system.The navigation accuracy of the system has been improved effectively by using this proposed method and the effectiveness of this method has also been validated.
【CateGory Index】: TN967.2
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