Method for optimizing integrated navigation of INS (inertial navigation system) and GPS (global positioning system) of unmanned ship

The invention discloses an optimization method for integrated navigation of an INS (inertial navigation system) and a GPS (global positioning system) of an unmanned ship, which is characterized in that a double-propeller unmanned ship power model is obtained by utilizing a relationship between an unmanned ship power signal and thrust, and the navigation precision of an inertial navigation system is improved, so that the integrated navigation precision of the INS and the GPS of the unmanned ship is improved. When a global positioning system signal is available, a particle filter algorithm is used as a data fusion algorithm for an INS/GPS integrated navigation system. Under the condition that a global positioning system signal is disconnected or fragile, the dynamic model of the double-propeller unmanned ship is used as an event trigger switch to carry out effective acceleration integration, so that the inertial navigation system of the unmanned ship can keep high-precision positioning. The method effectively s