The Technology Research Of Ship Integrated Navigation Multi-source Information Fusion

With the development of Navigation technologies and theory of control, Multi-sensorsintegrated navigation system for ship has been the primary navigation system. Shipnavigation system includes a variety of navigation sensors, so that how to fully use and dealtwith data and message from Multi-sensors has become the main problem of theMulti-sensors integrated navigation system. In this thesis， SINS/GPS/BD2/DVLMulti-sensors integrated navigation system has been the research object, the design andsimulation of SINS/GPS/BD2/DVL integrated navigation system is taken out and reach therequirements that the navigation system must provide precise positioning, velocity andattitude information in the long distance range and long time range. Main works are asfollows:Firstly, the navigation principle, the navigation system features and error characteristicsof SINS (platform inertial navigation system), GPS (satellite navigation system), BD2(BeidouII Navigation System), and Doppler navigation have been researched. A detaileddiscussion of the solution steps on SINS has been done, and its systematic error and adetailed analysis of each error equation have been given.Then do the trajectory simulationthrough the Matlab software.Secondly, the basic theory and the functional structure of information fusion have beenintroduced, the methods of information fusion for integrated navigation have been comparedand the discrete of Kalman filter has been analyzed.Synthetically considering all aspects ofsystem requirements, according to background needed topics that for engineeringapplications, the un-reset integrated Kalman filter is a more ideal structure for this system inpractical engineering.On the Basis of above theory analyze, according to the federated Kalman filter, theassemble models of these navigation system are determined. The multi-sensor data fusionscheme is details designed in detailed. The description mathematical models of theseassemble sub-system are set up.Then, software simulations for every mathematical modelare also done and simulation result proves that un-reset integrated Kalman filter canimprove navigation precision.Finally, the design of navigation PC software is done and the realization to reception ofnavigation data and data processing in the host computer and dynamic presentation of ship trajectory.