Abstract:

Tightcoupled GPS/INS integrated navigation, as an important part of integrated navigation technology, included two parts information. One is the INS aided GPS tracking algorithm, and the other is the integrated algorithm of the navigation information of INS and GPS. An improved INS aided GPS carrier tracking algorithm is presented and an integrated algorithm based on the pseudorange and pseudorange rate is introduced. The simulated result proves that in the tightlycoupled integration strategy, the use of INSaided tracking loops allows the INS to account for local receiver dynamics, thereby permitting the GPS receiver to narrow the bandwidth of its phase tracking loops; the use of the integration method based on pseudorange and pseudorange rate allows the integration navigation system correcting the errors of INS even when the received satellites of GPS are less than four, and improves the precision of the navigation system.