Research on GPS/INS integrated navigation semi-physical simulation

The principle of GPS/INS (global positioning system/inertial navigation system) integrated navigation system was presented, in which the integrated Kalman filtering is the key part of the system. The state equations and observation equations or the integrated position/velocity and integrated pseudo-range/pseudo-range rate were described and computations for renew measurement and renew time were implemented by U-D decomposition method. The simulation results have shown that the integrated position/velocity significantly enhances precision of position and velocity for the system. Comparing with the integrated pseudo-range/pseudo-range rating, the integrated position/velocity is simple in structure and performance requirement of the devices are low.