Study On The Integrated Navigation Key Technologybased On Double GPS And INS

Navigation system plays an important role in vehicle location and control, and theintegrated navigation technology is an effective way to improve the navigation precision,the GPS/INS integrated navigation is the main development direction of integratednavigation technology at present. This paper carried out the study of relative GPS_INSintegrated navigation system. The research purpose is to improve the navigation precision,can also output location information,posture Angle information, including longitude,latitude, altitude; Yaw Angle, pitching Angle, and roll Angle. This article focuses on thekey technology of integrated navigation, and the reasonable implementation scheme isdesigned.First of all, Research the selected topic background and purpose and significance ofthe paper. to determine the this article main research content and work arrangement. Thispaper introduces is designed the communication interface between the processor andcontrol program, Control procedures etc. from the aspects of the overall structure of theperformance of the system are applied to According to the research content, on thepremise of combining theory and practice, completed the construction of the experimentalsystem.Secondly, this paper integrated navigation on the basis of tightly coupled, deduced themathematical model of double relative pseudorange differential GPS positioning andmathematical model of INS navigation, selection of Kalman filter for integratednavigation data fusion. The basic principle of Kalman filter is presented, the doubleGPS_INS mathematical model of the integrated navigation system is derived. Theperformance of the interval adaptive Kalman filter is improved, and improved theprecision of integrated navigationAgain, the integrated navigation system based on LabVIEW software platform isdesigned, The designed software can give the system’s real-time location information ofattitude angle, outputting wave and the digital display at the same time. The software alsosets the threshold alarm function of attitude Angle in order to storage data selectively. Finally, the system debugging test is carried out. The measurement results proves thatthe measuring accuracy of integrated navigation system is better than only using GPS andINS,and the navigation system is stable; Both GPS and INS integrated navigation’saccuracy is higher than single GPS and INS integrated navigation, and measurement datais stable. The normal range adaptive algorithm and Kalman filter algorithm can be diluteda lot of models and measurement error. Which is much better than the general Kalmanfilter.