Research On System Technology Of Micro INS-GPS Integrated Navigation For Vehicle

With the constant improvement of precision and decrease of prices, the application of inertial navigation system that consists of micro inertial measurement unit(MIMU) has been possible in the field of vehicle navigation. The system has the characteristics of autonomous navigation, short-term and high precision of attitude and position measurement. After combination with the GPS, the system can be effectively solve the problems of poor autonomy,vulnerable interference,and low frequency of data update, which can be used for the further requirement of navigation system's autonomy.In this dissertation, after the analysis of micro inertial navigation system theory and application of method, the design of micro INS-GPS integrated navigation system for vehicle was completed. A simplified algorithm of micro inertial navigation system was proposed, and a practical approach and part of the data error of the optimization method were given. The system hardware design, software design and system debugging and testing were completed.Micro INS-GPS integrated navigation system for vehicle consists of embeded industrial computer, communication interface card, GPS receiver, navigation information solution and processing device, electronic compass, each modules through CAN bus to communicate, the system can regularly export the vehicle latitude, longitude, azimuth angle, attitude angle and speed.Given the debugging, static test and dynamic performance verification test results of communication interface card and navigation information solution and processing device, the correctness of design principles of the micro INS-GPS integrated navigation system for vehicle was verified, after engineering, the system can be used for vehicle navigation.