Research on INS/terrestrial Pseudo-Range Integrated Navigation

Based on direct sequence spread spectrum code and varies frequencies, the terrestrial pseudo ranging system have high precision and strong anti-jamming capability and could enhance the navigation accuracy of aircraft by fusion with Integrated Navigation System (INS). A fusion method of pseudo-range measurements and inertial sensor data in INS/Pseudo-Range navigation system was proposed in this paper. Extended Kalman Filter (EKF) which is commonly used in integrated navigation inherits Kalman Filter (KF)´s advantage in having good computational efficiency, but often leads to unstable estimations. Unscented Kalman Filter (UKF) is recently suggested for stability improvements, and it is more suitable for nonlinear filter. The comparison between theses two nonlinear filter in the INS/Pseudo-Range integrated navigation was also conducted.. Simulation results show that the UKF approach offers better performances over EKF.