Research of the INS/GPS Integrated Navigation System for High Speed Trains

A positioning algorithm based on a Global Positioning System (GPS) and inertial navigation system (INS) is proposed, so that the navigation accuracy of high speed trains is improved. In this paper, the error sources of INS and GPS are analyzed respectively, and then the error state models are set up. Furthermore, the INS/GPS integrated navigation system based on the information of GPS and INS is modeled and simulated, and the algorithm using Kalman filter (KF) is designed. The numerical emulation demonstrates that the INS/GPS can greatly enhance the robustness and reliability of the trains integrated navigation system. The system has obvious advantages of high accuracy.