The Investigation Of SINS/GPS Integrated Navigation System Based On Virtual Instrument

The purpose of this study was to explore the SINS/GPS position, velocity mix mode Kalman filter data fusion techniques to improve the accuracy of vehicle navigation problem. Virtual instrument has three main functions: data acquisition, data analysis and graphical display; virtual instrument is open and flexible and can be synchronized with the development of the computer, and Internet networks and other peripheral equipment. So this research method is to use virtual instrument technology, with ADLINK's multi-function data acquisition card and National Instruments (NI company)'s powerful graphical programming language LabVIEW, we realized the SINS/GPS integrated navigation system of measurement and simulation program on personal computer.The basic principles of strapdown inertial navigation system (SINS) are introduced in this paper; the calculation method for navigation parameter in SINS is described in detail. The composition and GPS system principles are briefly described; SINS/GPS integrated navigation system is described, advantages and disadvantages of several integration patterns are introduced. The integration model for this study is the loose combination of the location of speed open-loop correction mode. The principle of Kalman filtering is introduced, with the establishment of SINS error model, GPS system error model and thus the establishment of SINS/GPS integrated navigation system state equation and observation equation and system equation are discreted. The composition of virtual instrument software is briefly described, including virtual instrument development environment, using virtual instrumentation measurement system and its components and data acquisition LabVIEW environment; we give a brief introduction of ADLINK's PCI-9112 multifunction data acquisition card, performance indicators and A/D conversion mode; furthermore graphical programming language LabVIEW software, data acquisition program design process are given. In the LabVIEW environment the SINS gyro, accelerometer signal acquisition process is realized to achieve a gyro and accelerometer output signal collection and preservation. We realized trajectory simulation program, gyro output simulation program, acceleration output simulation program, GPS output simulation program, strapdown inertial system simulation program, Kalman filtering procedures; in accordance with the rate of combination of open-loop position correction mode inertial system simulation output and the GPS Kalman filter simulation input-output subroutines build in SINS/GPS navigation system simulation program. We obtained velocity error curve, the error position error curve and platform angle curve and the simulation results of error analysis and inertial system error correction, the results in this paper of SINS/GPS integrated navigation system is reasonably reliable. The characteristics of integrated navigation functions using LabVIEW are summarized and application prospects are introduced.