SINS/GPS组合导航系统中非线性滤波技术及应用

he precision and real-time of nonlinear filter, applied in inertial integrated navigation system, will directly determine the system performance. According to the application of the nonlinear filter based on stirling interpolation in the inertial integrated navigation system, a thorough analysis on the model was made in this paper. Based on the nonlinear model of additive quaternion error, a detailed feasible program for the application of interpolation filter was put forward in SINS/GPS integrated navigation system .A simulation is also made on the application of 2-Order interpolation filter in this system. The result indicated that the precision of 2-Order interpolation filter and the UKF filter have the same precision. The algorithm for the interpolation filter is simpler and more efficient. It can improve the real time and stability of inertial integrated navigation system.