MINS/GPS integrated navigation system

To improve he positioning accuracy of the low-cost MINS/GPS integrated navigation system and magnify its application fields, we designed and studied on MINS/GPS system. In the MINS/GPS navigation system we accomplished, the decoupled state and bias Kalman estimation is designed and implemented. It is characterized by less computation and high estimation accuracy, especially suited for the case when the number of bias items is larger than the state variables of the system. The bias of gyros and accelerometers are restrained effectively in the system by this way and at the mean time the computation is decreased up to 2/3 compared with regular Kalman estimation. Also, the attitude updating is used to reduce the affections of the attitude angle errors on the positioning accuracy. Simulations and vehicle tests are made; the positioning accuracy of the integrated system (CEP<4m) is significantly less than that of GPS (CEP=15m), the results show that the system prototype is of quite good accuracy and repeatability.