Simulation of GNSS／SINS／Photogrammetry Inteqrated Navigation using Asynchronous Federal UKF Algorithm

In the process of aircraft landing, in order to improve the accuracy of the integrated system and solve the problem of the traditional federal filter that the nonlinear system is easy to filter divergence. This paper analyze the advantages and disadvantages of the two system, propose a federal filter algorithm of GNSS／SINS／Photogrammetry, and derived the system’s error model. This algorithm can assist the SINS with the high precision of GNSS and Photogrammetry, utilizing the federal unscented Kalman filter to estimate errors of SINS. For non-equal interval data problems of multi-sensor, the information fusion of asynchronous non-equal interval federal filter algorithm use time and measurement update separation, and the corresponding improvements of the federal filter structure to reduce the complexity of the algorithm. Computer simulation shows that the position and attitude accuracy based on the UKF-FKF has been significantly improved comparison with traditional federal filter algorithm.