| The thesis first introduces inertial technology, MEMS-inertial technology and satellite navigation technology systematically, based on which the development of INS/satellite integrated navigation is presented. Based on this, the thesis aims to make a beneficial exploration for the theory and realization of low-cost and miniature MEMS-IMU/satellite integrated navigation system, hoping to grasp the design and engineering realization rule of MEMS-IMU/satellite integrated navigation system.Basing on the systematic analysis of MEMS-IMU and several current satellite navigation systems, the thesis adopts IMU400CD-200 produced by Crossbow Technology Inc and GG16 OEM receiver of GPS/GLONASS which is quite representative and applied maturely, and taking them for example, the thesis deals with an actual research for the design and realization of integrated navigation system. Grounding on this, the thesis discusses the algorithms of SINS and initial alignment, integrated navigation system's error model and kalman filter and so on. And connecting with the real situations, the thesis improves and optimizes the related algorithms in order to meet the need of system design better. That is to say, on the aspect of MEMS-IMU navigation algorithm, the thesis proposes a new algorithm of attitude updating; on the aspect of initial alignment, the thesis optimizes the practical application's method and assists the azimuth alignment by using satellite navigation system successfully; on the aspect of integrated filter, the thesis makes the system error model simpler, reduces the rank of integrated system's kalman filter and improves the stability and the real-time ability of the system.At last, according to the study on these technologies, the thesis deals with the realization of MEMS-IMU/satellite integrated navigation system and programs the integrated navigation software. And the main modules of the software include sampling and pretreatment of MEMS-IMU real-time data, sampling and pretreatment of satellite navigation real-time data, initial alignment of integrated system, the navigation algorithm of MEMS-IMU, integrated kalman filter, data display, and charting navigation result and so on. And being based upon these, the thesis does static and dynamic tests of integrated navigation system, the results of which prove that the integrated filter is available to restrain the increasing of MEMS-IMU error. Under the condition of the effective output of satellite navigation data, the average accuracy of integrated navigation keeps the same height with the accuracy of satellite navigation system basically, but the increasing of navigation error is very fast when the output of satellite navigation data is noneffective. |
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