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The continuous development of driverless technology has provided more possibilities for the expansion of unmanned operation. In this paper, the SINS/DGPS integrated navigation system is used in the unmanned mining vehicle, and its combination mode and working mechanism are expounded. The equations and observation equations of the combined navigation filter system are derived. The measurement residual error checking algorithm is designed to eliminate DGPS Gross error. At the end of the paper, the correctness of the combined system is verified on the simulation platform, and the robustness is better.

Application of SINS/DGPS integrated navigation technology in unmanned mining vehicles