Research on the Alignment of Moving Base for IMU/GPS Integrated Navigation System

In this paper,the error sources of the integrated navigation system were analyzed,and the error models were built.Then,the alignment algorithm of IMU/GPS integrated navigation system on moving base was designed by Kalman filtering.Computer simulation results show that,under the condition of big initial error and shell's high speed rolling,after 360 seconds' alignment on moving base,the error of azimuth angle and attitude angle can be decreased to no more than 10 seconds,and the position and velocity error had been corrected effectively.This shows the effectiveness of the designed arithmetic.