The Research Of Reduced MIMU/GPS Vehicle Integrated Navigation System Algorithm

With the development of Micro-Electro-Mechanical Systems， integratednavigation technology, car networking and Intelligent Transportation System, themodern vehicle navigation system not only requires high accuracy and reliability ofpositioning, but also must have some characteristics of low cost, small size and easeof integration. MIMU/GPS integrated navigation system has a name of goldencombination, it is a very promising method of land vehicle navigation and positioning.From the practical needs and working environment of the vehicle, this paper proposedand studied some solutions of MIMU/GPS vehicle navigation systems in engineering,which are easy to achieve miniaturization and low-cost, then use of laboratoryequipment doing vehicle experiment, then processing and analyzing experimentaldata.The main contents of this paper include the following three aspects:1. This paper describes the principles of MEMS inertial navigation system andGPS, derives digital iterative algorithm of SINS: quaternion, rotation vector method,,and makes a simulation of attitude update algorithm.2. This paper studies the combination model of MIMU/GPS integratednavigation systems and its advantages and disadvantages, analyzes the error equationof integrated navigation system, and establishes state equation and measurementequation of MIMU/GPS vehicle navigation systems in loose combination mode,because of often accompanied by a high signal to noise ratio and a larger impact ofuncertainties for low power sensor, Sage-Husa adaptive Kalman filtering andnonholonomic constraints is applied to the integrated navigation system, backwardfiltering and weighted filtering technology are applied to offline processing of theintegrated navigation system to improve the accuracy of the integrated navigationsystem.3. In this paper, the MIMU (3A3G)/GPS integrated navigation system is reducedto MIMU (2A1G)/GPS integrated navigation system, derived formulas of digital iterative algorithm and error equation of reduced MIMU (2A1G), established amathematical model of reduced MIMU (2A1G)/GPS vehicle navigation systems, andthrough practical vehicle experiments to test performance of the algorithm. Theresults show that accuracy of reduced MIMU (2A1G)/GPS integrated navigationsystem has been improved, volume and costs of MIMU (2A1G)/GPS integratednavigation system are greatly reduced, easy to integration and intelligent, which isconducive to development and research of car networking and intelligenttransportation.