Hardware in-the-loop simulation of SINS/CNS/GPS integrated navigation system

As a result of high flight laboratory fees, it is impractical to take experiment real time at the navigation system initial experimentation. In order to test the performance of algorithm, shorten the development cycle of integrated navigation system , as well as to reduce the cost and to improve the efficiency of developments, a new type of semi-physical simulation system using reality error characteristic for SINS/CNS/GPS integrated navigation system was proposed. The system combined physical simulation and maths model. It used apparatus' error characteristics and could simulate various track by track make soft, which had the feature of flexibility and expansibility. Aiming to this system, an information synchronization method was designed with whole estimate value and no synchronization measure value time renew together. Using federate filter to finish navigation calculating, the navigation system precision and reliability were improved. By using the semi-physical system, the navigation algorithms could be test and validated effectively. The dynamical real time test has significant realism meaning to aerocraft dynamical and system performance research.