Research On System Technology Of Integrated Navigation For Vehicle

With widely application of navigation technology in military and civilian,vehicle-mounted navigation technology has been rapid development. Again because of therapid development in the research of micro inertial measurement component (MEMS), thestrapdown inertial navigation technology and integrated navigation technology has becomethe two major research focus in the vehicle navigation system, thus constructs with digitalsignal processor (DSP) as the core，with miniature inertial measuring element，and globalpositioning system (GPS) as measuirng device for vehicular integrated navigation systemis the main research direction in the field of vehicle navigation. Therefore, this article willrevolve around a series of the key technology study of integrated navigation systemthe，suchas strapdown inertial navigation algoirthm，hardware and small vehicle integrated navigationsystem integrated navigation algorithm.This article will focus on the limit precision of inertial measurement components, andcome up whith how to improve the algorithm of strapdown inertial navigation (SINS)navigation accuracy. Due to the dual quaternion is one of the most effective mathematical toolfor the descirption of space spiral movement, so this paper applies the dual quaternion instrapdown inertial navigation algorithm, design based on dual quaternion algorithm ofstrapdown inertial navigation，and has made the corresponding improvement andsimplification for the initial alignment and the large amount of calculation problem.Thereduce amount of calculation, which is under the premise of improving the precision based ondual quaternion are finally shown by simulation for the fourth order higher comprehensiveperformance and practical application value of the simplified strapdown inertial navigationalgorithm.SINS/GPS integrated navigation algorithm is studied on the basis of the design of thestrapdown inertial navigation algorithm. Based on dual quaternion multiplicative error model,builded the dual quaternion error model of strapdown inertial navigation algorithm, anddeduced the strapdown inertial navigation system error of the speed and position equation. Onthe basis of the combination of inertial device error model and error model of GPS,we can getintegrated navigation system error state equation and measurement equation, and achieve thediscretization of the error state equation and measurement equation, and complete the designof the integrated navigation algorithm based on open-loop kalman filter, and proves thefeasibility of the algorithm by the simulation. Based on the idea of modular and distirbuted as well as the main line, designed a smallintegrated navigation system which is relatively perfect in functions, high reliability with DSPas the core，the micro inertial measurement unit (MIMU) and GPS as measuirng equipment，LCD screen as man-machine interface.And we designed USB interface, CAN bus interfaceand RS232interface, and a series of extension interface for the system，which convenientapplication extension system.Completed the design of the the vehicle-mounted integrated navigation system’ssoftware，include the navigation function, the network port communication functions as wellas the function of LCD real-time display navigation information. Static performance tests anddynamic performance tests verify the main features of the designed system.