Abstract
An integrated navigation method based on INS and GPS was proposed for airborne navigation. The influence of scale factor error and misalignment error of gyroscope and accelerometer on navigation accuracy was analyzed. Compared with traditional INS/GPS integrated navigation method, scale factor error and misalignment error were added to the state model of the integrated navigation system. The observability of scale factor error and misalignment error was analyzed combined with typical airborne movement. Then the integrated system was optimized, and the new navigation model of the integrated system was obtained. The optimized INS/GPS integrated model was validated by numerical simulation and turntable test. Comparing the proposed model with traditional integrated model (integrated system error states do not include scale factor error and misalignment error), the results showed that the proposed integrated navigation method can improve the accuracy from 8% to 28% of the east, north, and upward positions.
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