Anti-interference integrated navigation method based on interference observer

The invention relates to an anti-interference integrated navigation method based on an interference observer, and relates to a strapdown inertial navigation and GPS integrated navigation method. Firstly, navigation information at different moments is collected through a dynamic strapdown calculation process and a filtering process; secondly, a drift estimator is designed according to an error dynamic equation of two adjacent moments; and finally, the output value of the drift estimator is fed back. According to the invention, the estimator for the drifting of the inertial device is established, and the drifting of the inertial device can be estimated and compensated to a certain extent so that the navigation precision of the integrated navigation system is improved. 本发明涉及一种基于干扰观测器的抗干扰组合导航方法，涉及一种捷联惯导、GPS组合导航方法。首先由动态捷联解算过程及滤波过程采集不同时刻的导航信息；其次，根据相邻两时刻误差动态方程设计漂移估计器；最后，将漂移估计器的输出值进行反馈。本发明建立了惯性器件漂移的估计器，可对惯性器件的漂移进行一定估计和补偿，从而提高组合导航系统的导航精度。