Abstract
In order to make up for the deficiency of the SINS/GNS integrated navigation system in attitude correction, based on the geomagnetic matching algorithm, a new scheme is proposed. First, the principle of this SINS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Second, the Extended Kalman Filter (EKF) is designed for this autonomous integrated navigation system, considering the nonlinear characteristics of the model, the Marginalized Particle Filter (MPF) is also designed. The simulation experiments are conducted, and comparison analysis demonstrate that the proposed approach can improve the accuracy of attitude calculation, and the MPF filter has better robustness than EKF Filter.
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