An algorithm for integrated navigation based on multi-loop adaptive switching

The inertial navigation system (INS) and global satellite navigation systems (GNSS) navigation combined to achieve, you can give full play to the advantage of two navigation systems, to make up for their shortcomings, making navigation in the more complex work environment. The combination of INS and GNSS, according to data fusion methods can be divided into loose coupling, tight coupling and ultra-tight coupling, each coupling has a different way to use occasions, and alone any kind of coupling was difficult to meet the needs of all environments. This paper proposes an algorithm adaptive based on multi-loop switching which can output the results of two navigation systems analysis and identification, and adaptive switching loop based on the results, thus completing the coupling approach to select the appropriate combination of navigation, if necessary can abandon a sub-system in which error has occurred. By using this algorithm, the navigation can be better adapted to the complex application environment, to ensure continuity and reliability of navigation.