GPS/INS Data Fusion Algorithm Based on Adaptive Filtering
Zhao Xiang · Fire Control and Command Control · 2013
GPS/INS integrated navigation system in high dynamic environment is studied,GPS/INS data fusion algorithm based on pseudo-range and pseudo-range ratio is mainly discussed in this paper.By means of the kinetic model of carrier and the location error model of GPS system and INS system,the state equation and the observation equation are founded,GPS/INS data fusion algorithm based on pseudo-range and pseudo-range ratio is implemented using adaptive kalman filtering algorithm.Finally,data fusion algorithm is simulated,simulation results show that the data fusion algorithm can improve precision,reliability and maturity of integrated navigation system.