Research On Key Technologies For Theimplementation Of MINS/GPS/ADS Integrated Navigation System

Ground Effect Vehicle is a special vehicle with make use of the Ground-Effect-Principle and flies super low, it combines the advantage of ship to be safety and economy and plane to be higt-speed and comfort, these advantages make it has a very broad application prospects.To meet the need of GEV’s navigation, this paper carried out the research on the key technology of realizing the low cost and miniaturization of MEMS-INS/GPS/ADS integrated navigation system.Firstly, this paper researched low cost, miniaturization of GEW’s navigation system, designed a MINS/GPS/ADS loose combination navigation scheme. The research completed MINS, GPS, ADS hardware design, on the basis of this, carry out the design of MINS/GPS/ADS integrated navigation system prototype.Then, this paper studied the algorithm of MINS strapdown inertial navigation, based on analysising the modol of air data system, using the atmospheric pressure altitude, airspeed provide by air sensor to aid inertial navigation, derired MINS/ADS, MINS/GPS measurement model, constructed the MINS/GPS/ADS navigation structure. At last, this paper researched MINS/GPS/ADS integrated navigation filter and verified the effectiveness of the algorithm through simulation. Simulation show that, when GPS is not stable, the MINS/GPS/ADS integrated navigation system can effectively improve the precision and stability of the system.Afterwards, this paper modeled the error of MEMS inertial sensors, designed an efficiency calibration method for inertial sensor. At the same time, this paper studied the vibration environmental adaptability of MEMS inertial sensor, designed vibration reducing measure for MINS, avoiding the influence of vibration to the integrated navigation system.At last, this paper use the MINS/GPS/ADS integrated navigation prototype as the experimental platform, verified the key algorithm of the navigation system through traffic running testing. Experiment show that the MINS/GPS/ADS navigation system has high positioning accuracy and stability, and it can meet the demand of GEV navigation.