Comparison of different integrated patterns of SINS/GPS system undercondition of GPS signal invalidation
卫星信号失效条件下SINS/GPS不同组合方式的性能比较

In order to investigate the navigation capability of SINS/GPS loosely-couple integrated navigation system and the tightly-coupled system under the satellite signal invalidation, this paper established the math model of the loosely-coupled system and the tightly-coupled system based on the Kalman filtering and set up emulators of them on the basis of the analysis of error equation of SINS. The simulation results indicate that the precision of the SINS/GPS tightly-couple integrated navigation is obviously better than the loosely-couple, and the tightly-coupled system can be held and have a better precision than that of single SINS system at the same time even if the number of the visible satellites is less than four or just one caused by the satellite signal invalidation. This shows that tightly-coupled system have a good precision and reliability.