针对小型无人机导航系统低成本、微小型、高效性的特点,提出了基于捷联惯导(SINS)卫星定位(GPS)的组合导航系统设计方案,深入研究了组合导航系统的关键技术；分析了MEMS传感器误差对导航系统的影响,建立了系统误差模型；采用利于工程实现的基于位置、速度误差作为状态向量,以松耦合方式进行集中式Kalman滤波,对SINS/GPS信息进行融合,避免了传统SINS系统状态模型非线性,滤波器设计困难的问题；最后对系统进行了仿真；仿真结果表明,该组合导航系统成功抑制了SINS系统的积累误差,提高了导航精度与可靠性,具有广阔的应用前景.%In accordance with features of UAV: Low -cost, miniature, high efficiency, An integrated navigation system based on MEMSSINS/GPS is presented, and the key techniques for system construction are studied. On the base of the analysis of the system errors which are affected by the instability of MEMS Sensors , the system error model' s bui a Kalman filter, in which the position and velocity errors are used as system state vector, is designed in loose coupling way to avoid a problem that the design of Kalman filter is complicate because of the traditional nonlinear system model ; At last, The simulation experiment of the SINS and integrated navigation system is conducted. . The simulation results indicate that the Accumulated error in sins is reduced by fusion the GPS information. Compared with traditional Navigation System, the integrated Navigation system presented are more small, reliable and with better accuracy. The integrated system designed in this paper has broad application foreground.
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