Abstract
According to the GPS positioning principle and the main sources of error, the GNSS error model is analyzed and established. The positioning principle of the inertial navigation system is introduced. The solving process of strap down inertial navigation system using quaternion method is described in detail. The error model of inertial navigation system is deduced. Based on the inertial navigation error model, the state equation and observation equation of the combined system are analyzed and analyzed, and the selection of the observation equation is analyzed. Finally, the alternating observation equations of the position and velocity are determined. The traditional Kalman filter is compared with the Kalman filter which introduces the outlier processing. The normal observation is not affected, and there is an excellent detection and suppression for the single outliers and the outliers. Effect, greatly enhanced the stability of the integrated navigation system, significantly improve the anti-poor results.
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