Tightly Coupled GPS/INS Integrated Navigation Algorithm Based on Kalman Filter

For the respective performance characteristics of the global positioning system (GPS) and inertial navigation system (INS), a tightly coupled GPS/INS integrated navigation system based on the pseudo-distance difference was proposed. The paper presents the detail study and theoretical analysis of the kalman filter algorithm for the GPS/INS integrated navigation system, and focuses on the establishment of the system model state equation and observation equation, which is the basis of the system simulation. The simulation result shows that the kalman filter algorithm and tightly coupling mode for the integrated navigation system effectively improve the long-term positioning accuracy, and enhance the anti-interference performance of the GPS navigation equipment.