Design and Analysis of GPS/SINS Integrated System for Vehicle Navigation

The objective of this paper is to study the GPS/INS integration in detail. Finished work include strapdown INS (SINS) mechanization algorithm, GPS/SINS integrated system kalman filter design. A series of land vehicle tests and high dynamic flight vehicle simulations were conducted. Processing results of land vehicle tests show that when GPS signal is available, the position accuracy of low cost GPS and low cost SINS integration is about the same as that of GPS only. With complete loss of GPS signals, position error is less than 10 meters, after 10 seconds. Although GPS and current low cost IMU integration cannot improve absolute positioning accuracy, it can provide attitude output, has higher data update rate and can give motion information by SINS only when GPS is not available for a short time, such as in heavily forested areas, in urban centers, in buildings or underground. The simulation results based on a typical high dynamic flight vehicle trajectory validate that the developed algorithms are applicable to flight vehicle navigation.