Design of multi-sensor integrated navigation system for helicopters

In order to meet the requirements of high precision localization in armed helicopter, a DOPPLER/GPS/FOG SINS/Barometric Altimeter integrated navigation system is designed. And adaptive information filter is used to fuse these sensors data. The multi-sensor integrated navigation system is implemented based on the floating point DSP+FPGA embedded navigation computer and modular software architecture. The actual experiments have shown that the integrated navigation system can inhibit the divergence of SINS errors, maintaining smaller error level than SINS/GPS only, especially during long GPS outages. Those prove that this system is effective and practical.