Research And Implementation Of Integrated Navigation System For Vehicle Based On MEMS-GPS

The Global Positioning System(GPS) and the Inertial Navigation System(INS) are two basic navigation systems. Due to their complementary characters in many aspects,GPS/INS integrated navigation system has been a hot research topic in recent decades.First, the working principle and of SINS and GPS are analyzed. The advantages and disadvantages of each individual system are analyzed. The integrated navigation scheme is designed.Second, the output signal characteristics of MEMS inertial sensors which are used in SINS/GPS vehicle integrated navigation system are analyzed using AR model spectrum estimation method. The deterministic error of the accelerometer is investigated using the six range static test method. The deterministic error of the gyroscope is investigated using the angular velocity measurement method. The random error of the accelerometer is compensated by using the FIR method. The random error of the gyroscope is compensated by using the wavelet filtering method.Again, the mathematical model and the filtering algorithm of integrated navigation are studied. The estimation methods and correction methods are studied in detail and their advantages and disadvantages are analyzed. The state equation and the observation equation under tight combination models are established. The algorithm principle of UKF and EKF is studied and the simulation experiment is carried out. Simulation results show that UKF has better effect on the nonlinear system filter than EKF.Finally, the experiments for the integrated navigation system are realized. It can be seen from the experimental results that the precision of the integrated navigation system is much higher than the pure inertial navigation system. The desired result is achieved.