Experimental Resarch on AR Model-Aided SINS/GPS Integrated Navigation

The random drift of ring laser gyroscope is similar to white noise.The digital filtering method of AR(2) model can be used to filter the random drift.The error model of SINS/GPS integrated navigation is presented by using three gyro signals of IMU unit.Experiments of SINS/GPS integrated navigation are done to collect original data and then some off-line hardware-in-the-loop simulation is done by using Kalman filter.The simulation results show that a higher attitude accuracy can be acquired,and the velocity error can be depressed effectively by using AR(2) model-aided ring laser gyroscope SINS/ GPS integrated navigation system.