Research on Beidou/SINS Integrated Navigation System Based on UKF
Jun Guan · Journal of Ballistics · 2015
To further increase the precision,reliability and security of integrated navigation system(INS),the algorithm of unscented Kalman filter(UKF)was used to simulate the Beidou/SINS INS according to the basic principle of integrated navigation,and the real experiments were all proposed in this paper.The experiment on a car was carried out.For the real experiment,an autopilot was employed for guided bomb equipped with the chip of Beidou and a micro inertial measure unit(MIMU).The experiment result shows that the navigation error of Beidou/SINS INS can be effectively estimated by using the algorithm of UKF.Under the process of feedback compensation,it can enormously improve the precision and the data refresh rate of this system.Under the conditions of the hardware and software mentioned,the accuracy of location can reach 6m,and the data refresh rate can achieve 100 Hz.These indexes can meet the requirement of a precision guided bomb.