Analysis on error motivated by different measurement setting of SINS/SMNS system based on modified Kalman filtering

The measurement setting of scene matching moments is a critical parameter for the error magnitude of data fusion in SINS/SMNS integrated navigation system. In order to implement adaptability assessment for the system, error analysis of it should be investigated to give possible optimized better solution. Errors caused by scene matching moments are propagated through Kalman filtering in SINS/SMNS, which is essentially unequal spaced and finitely corrected, i.e., filtering run only at matching moment, otherwise it relies on pure SINS to positioning. The modified Kalman filtering is discussed in this paper, and the simulation results indicate that scene matching number is more important than matching strategy for error correction, and the correcting capability of scene matching is improved as SINS errors increases.