Design and algorithm research of a GNSS/FOG-SINS integrated navigation system for unmanned vehicles

According to the application requirements of autonomous navigation for unmanned vehicles which mainly used for forest exploration and border patrols, this paper designs a cost effective GNSS/SINS integrated system based on the fiber optic gyro (FOG). After that, the alignment method of SINS and the integrated navigation algorithm are also improved. By fusing the valid data of GNSS/FOG-SINS with Kalman filter, the error of inertial devices can be corrected and the high-precision inertial navigation results are used to locate by the satellite navigation system. At the end of this paper, the simulation and the vehicle field test are done, from which we can see that the tested accuracy can meet the practical precision requirement of the integrated navigation system when the satellite signal is blocked in the complex terrain environment for one minute.