Research And Implementation Of GPS/SINS Vehicle Integrated Navigation System Based On Embedded LINUX

As an important component of intelligent transportation system, vehicle navigationsystem provide reliable, accurate navigation and positioning information. In order to solve theproblem of the GPS vehicle navigation system fail to location when the antenna is obstructed,lower positioning accuracy and other issues, the paper constructs a kind of vehicle navigationintegrated systems based on GPS/SINS. Through the complementary advantages, the systemgets the accurate positioning information.The paper’s core content is vehicle integrated navigation system, it designs anddevelopments a GPS/SINS vehicle integrated navigation prototype system based onembedded Linux. Firstly, the paper researchs and analyses the basic principles and algorithmsof GPS and strap-down inertial navigation system deeply.At the same time, it describes theintegrated navigation technology and information fusion technology based on kalman filteringbriefly.Secondly, on the basis of analysis of the key technologies, the paper designed a overallframework of vehicle integrated navigation systems. Under the guidance of the overallframework, the paper developed the system hardware platform respectively from the dataperception, communication, processing, display and storage. Thirdly, on the basis of systemhardware platform, the paper elaborated the transplant of Bootloader, the cutting andtransplant of kernel, the adding method of device drivers based on embedded linux operatingsystem. The paper completed the development of vehicle integrated navigation systemapplication by Qt Creator4.7in the embedded Linux operating system environment. Finally,on the basis of vehicle integrated navigation prototype system, the paper completed thefunction testing and performance analysis of GPS subsystem, SINS subsystem and GPS/SINSvehicle integrated navigation system. The results of tests show that the system providesreal-time, stable and reliable vehicle location parameters.Relative to the current GPS vehicle navigation systems, the research result of paper cansolve the problem of the antenna is obstructed more effectively, and improve the positioningaccuracy at a certain extent. Meanwhile, the paper provides a theoretical and technical supportfor solving vehicle navigation systems’ problem of poor positioning accuracy and lowreliability...