Vehicle Integrated Navigation System And Design Of The Communication Based On CAN Bus

The vehicle navigation technology is very important in either military or civil field,multi-sensor integrated navigation technology is the direction in which vehicle navigation technology is going.The development of SINS/GPS/OD integrated navigation system for vehicle is proposed in this paper.Firstly,this paper introduces the background and the significance of the project,expounds the constitution and the characteristics of vehicle integrated navigation system,the development and the trend completely. Then simply summarizes the tasks and the expected effects.Secondly,based on the analyses of integrated navigation system and the error equation of every subsystem,the paper has explored initially in the project practice aspect.The following four questions are discussed in the paper.design of data acquisition system for SINS;GPS navigation data is collected and disposed;odometer digital signal acquisition and procession;design and realizes of the CAN communication interface for vehicle,and then the thesis gives the details of the system realization,include the hardware and the software.The performance features,operating principle and technical code of CAN bus are introduced emphasizly.And the programming method for common devices, which are used in the CAN bus,are expatiated.The thesis also discusses the anti-jamming measures and the debug methods.Finally, through introducing data fusion technology and Kalman filer algorithm,the methods how to integrate them are set up and a federated filter is designed. Simulation results show that the vehicle integrated navigation system can realize the best performance and it is feasible.