On Improved Algorithm of SINS/DR Integrated Navigation System

This paper systematically studies dead reckoning algorithm in SINSIDR integrated navigation system. The intermediate coordinate system was introduced, and the pose updating calculation was performed through the attitude transformation matrix, which reduced the calculation error of the attitude angle. The accelerometer output information is introduced into the speed update calculation to compensate for speed and position errors. In the filtering model, the state transition matrix and the measurement matrix are calculated at different ratios to avoid noise interactions to the greatest extent. The experiment verifies the rationality of the algorithm and can effectively improve the navigation accuracy of the SINS /DR integrated navigation system.