The Modeling and Analysis for Autonomous Navigation System Based on Tightly Coupled GPS/INS

Abstract

GPS can provide both military and private users with accurate information about user position and velocity. However its data rate is low as well as 1~10Hz, and it will not provide a continuous and reliable information among mountains, dense forests and high building. Inertial Navigation System (INS) is an autonomous, all-weather navigation system that can provide continuous information of position, velocity and attitude regardless of the surrounding. But the performance of INS deteriorates with time due to inertial sensor performance. GPS and INS have complementary properties, whose integration is an efficient way of improving the whole performance of navigation system. In this paper, the models of GPS and INS, respectively, are built and analyzed, and then a tightly coupled GPS/INS system based on the information of GPS position and velocity is modeled and simulated, which is compared with integrated system using only GPS position data. The simulation and analysis results demonstrate that integrated system can greatly enhance the robustness and reliability of autonomous navigation system.