SINS/GPS integrated system state estimation based on covariance assignment

SINS and GPS are widely used. Combining SINS and GPS organically, we can get an reliable integrated navigating system which can overcome the respective defects of the two systems, including signal blockage for GPS and growth of position errors with time for SINS, and develop their advantages to form a complementary structure at the same time. On the basis of using the SINS/GPS integrated navigation system, we introduce the covariance assignment state estimation algorithm not only to enhance the navigational capability and accuracy, but also enhance the robustness of the navigation system.