A Loosely Coupled INS/BDS Integrated Navigation System

INS/BDS integrated navigation can suppress the error accumulation of strapdown inertial navigation equipment, as well as reducing the errors introduced by the navigation system when the Beidou satellite signals are interfered. This article presents the design of an INS/BDS loosely coupled integrated navigation system, for which the integrated navigation algorithm is developed and implemented. Principles for the loosely coupled integrated navigation system are first explained; the integrated navigation state and measurement equations are then developed based on the Kalman filtering theory and the system and measurement noise matrices are established according to equipment technical specifications. On-board experiments are also performed to test the accuracy of the position, velocity and attitude measurement of the designed INS/BDS loosely coupled integrated navigation system. Detailed test data analyses were performed. It shown by the results that the INS/BDS loosely coupled integrated navigation algorithm proposed in this article can effectively find highprecision solutions including positions, velocitys and attitudes, which can meet the requirements of navigation parameter measurement for water shipborne or land-based vehicles.