Method of attitude-aided magnetometers/SINS/GNSS integration

A method of attitude-aided magnetometers/SINS/ GNSS integration was proposed for low-cost guided ammunitions at fast spinning rate. Magnetometers-aided attitude updating of SINS was utilized to inhibit the drift of SINS attitude, and GNSS-aided SINS was used to reduce the error of position and velocity. An approach of roll angle determination was developed by geomagnetic intensity in body frame. SINS error model based on a first-order Gauss-Markov process and SINS/GNSS integration filter with 15 parameters state vector were given out. The results of Magnetometers-aided SINS navigation simulation showed that the Magnetometers-aided SINS can effectively inhibit the drift of SINS attitude, but couldn't obviously improve the precision of position and velocity. The results of Magnetometers/SINS/GNSS integration simulation showed that the precision of velocity and position were improved greatly, and the attitude accuracy was quite equal to the measuring accuracy of Magnetometers-aided SINS. Therefore the Magnetometers/SINS/GNSS integrated navigation method is an effective solution of low-cost navigation under high dynamic circumstances.