The application of GPS/SINS integration based on Kalman filter

The integration system of Global Positioning System (GPS) and strap-down inertial navigation system (SINS) has been widely applied for unmanned aerial vehicle (UAV) because of their complementary characteristics. In order to lower the price and reduce the volume, SINS is usually designed based on low-accuracy inertial measurement unit (IMU). Because low-accuracy sensors lead to severe drift of the math platform, GPS measurement information need to correct output values of IMU to meet accuracy requirement. Besides, the main advantage of integration system is the availability of reliable navigation information during the intervals of GPS or SINS missing data. The simulations are carried on by the data acquired from the actual flight test. The performances of integrated navigation system are also verified by UAV actual flight experiments.