Inertial Dynamic Model of GPS/INS Integrated NavigationBased on Newton Interpolation

Objective In GPS/INS integrated navigation,the low precision of the INS dynamic model reduces nav-igation accuracy.Based on Newton interpolation,a multi-order dynamic model algorithm for GPS/INSintegrated navigation is proposed.First,the detail algorithm of Newton interpolation is introduced.Based on this a Gauss-Markov model of the inertial system is modified to realize the multi-order mod-el.The design formulas of the observation and dynamical models are presented.Finally,an actual cal-culation was performed to test the validity of new algorithm.The results of the experiment indicatethat when compared with the Gauss-Markov model,the inertial dynamic model for GPS/INS integrat-ed navigation based on Newton interpolation can improve the position and attitude precision effective-ly.At the same time,an analysis of the experiment shows that a 4-order Newton interpolation modelnot only enhances model precision,but also reduces model complexity,which provides a good refer-ence for order selection in the Newton interpolation model.