Research Of GPS And INS Navigation Based On VxWorks System And Unmanned Car

Unmanned vehicles technology is widely used in warious fields liking military,transportation and security.Military unmanned vehicles can complete tasks such as investigation,patrol and combat.So it can reduce battle casualties and improve operational efficacy.This thesis is written for detection and patrol usage in some urban environment.It did some research in GPS and INS navigation method of unmanned vehicle.It has important research significance and practical value.Based on VxWorks operating system,this thesis designed the computer and sensors system of autonomous navigation of unmanned vehicle.According to the designed strong real-time VxWorks system and CAN bus interface requirements,this thesis transformed a ordinary electric vehicle to an automatic control platform.So that the vehicle can move straight and turn with CAN bus signal.On this basis,it get horse sections coordinate value by using the high-precision RTK differential GPS devece.Then it established electronic map of navigation by using these coordinate.The GPS navigation comes true by using the proposed algorithm.In order to make up the GPS signal in some cases,this article also researched the method of projection of coordinates by using inertial navigation equipment and wheel speed encoder.By this method ,when GPS signal is unstable,it can still get real-time coordinate.It improve the robustness and scope of naviagation.Another work of this dissertation is the development of visual navigation interface based on Windows and Goolge Maps.People can observe the navigation effects and backgroud manipulation.The experiment shows that navigation is effective in some setted region by using the GPS and INS navigation algorithm.GPS navigation accuracy is up to centimeter level,and the INS is up to 2/50m level.In this thesis,the reliable transmission of sensor information and real-time scheduling of control tasks comes true by using software navigation system base on VxWorks system.