Abstract
Aiming at the difficulties of high-precision position and orientation system in aerophotogrammetry system, drift error in traditional Strap-down Inertial Navigation system, noise characteristic mutarions in integrated navigation system, an algorithm based on IMM-SINS/GNSS Kalman filter is proposed. The algorithm takes the advantages of SINS's autonomy and anti-interference characteristics, GNSS's high absolute precision and error-compensating, IMM's multi-model existence and noise adaption characteristic. The error is estimated by using the improved Kalman filter supported by SINS/GNSS integrated navigation system. Simulation results show that the location and attitude error is effectively limited, verify the feasibility of this scheme and the efficiency of the algorithm, showing that this algorithm is valuable in navigation and aerophotogrammetry field.
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