Design of multi-system integrated navigation

By studying on observable of INS error states and the characteristic of each navigation system, considering the choice of the revision way, the adoption of different filtering algorithms and the verification of the information source, a multi-system integrated navigation model was built. The simulator module of this model was constructed by Simulink tools in MATLAB, which could integrate all active navigation subsystems automatically. The simulator not only could execute independently, but also could run accurately on RT-LAB real-time environment combined with other navigation system simulators. The simulation result indicates that the simulator has many good performances which include the flexibility in integration pattern of navigation systems, the redundancy and complementarity of navigation information, the fault tolerance of the whole system, etc.