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Combination of GPS and SINS
Jan 09, 2019

The loose combination is the simplest combination of application methods. In this way, SINS and GPS work independently, and the combined filter fuses the data of both and gives the optimal estimation result, and finally feeds back to SINS for correction. This combination can provide a single
Better navigation results with a single GPS or a separate SINS. However, when the satellite signal interruption cannot provide the positioning information, the combination of the system is completely broken, and the performance of the entire navigation system is rapidly deteriorated.
Tight combination is a relatively complex combination. In the tight combination, the measurement information provided by the GPS to the combined filter is the original information used by the receiver for positioning, that is, pseudorange, pseudorange rate, and Doppler frequency, and the measurement information of the loose combination is usually time-correlated. Sex The position and speed, so tight combination can achieve higher positioning accuracy [1 - 2]. When the dynamic motion or external disturbance of the carrier makes the number of visible stars less than 4, the tight combination system can use the only available stars to realize information fusion and avoid the system to convert to a pure inertial navigation system. Therefore, the tight combination system is stronger than the loose combination system. Its anti-jamming performance is more suitable for highly dynamic navigation applications.

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