Research on integrated navigation of strap-down inertial navigation system and star sensor

Sail for a long time in the sea, and the inertial navigation system error accumulating with time affect navigation accuracy seriously, meanwhile the star sensor can output the high precision information. So inertial navigation / Star integrated navigation technology is applied to solve this problem. Through the strap-down inertial navigation system and the star sensor, the position information of the ship is calculated during the navigation process, and the difference of the position information is taken as the observation quantity. Then, the Kalman filter is used to fuse the data information, so as to estimate effectively the integrated navigation system error terms. The purpose is to modify the navigation information of the inertial navigation system. Through the system simulation, it can be seen that this combination navigation method can effectively suppress the divergence of the inertial navigation system error and improve the navigation accuracy when navigating the ship.