Research On The Vehicle Positioning And Azimuth Determining System Aided By GPS

The vehicle positioning and azimuth determining system is the key technology on ground-based navigation. It provides accurate geographical coordinate,azimuth,attitude and other navigation data to provide a reference baseline for movement of the carrier. Highly accurate vehicle positioning and azimuth determining system enhancing the high mobility vehicles, has become an important part of preparation States Army.SINS running separately will encounter the problem such as diverging position errors. Therefore, there should be a new algorithm to correct the error or a combination of navigation, to achieve high accuracy navigation. This article discusses the design of the entire process navigation algorithm, the main research work as follows:Firstly, discussing the SINS algorithm. First, defining the coordinate system herein and discussing the mutual relations between the. And then,analysing the SINS Attitude Updating Algorithm based on the rotation vector algorithm and the optimization algorithm in the conical motion state, SINS velocity updating algorithm and sculling compensation algorithm,as well as the SINS position updating algorithms;Discussing the SINS component calibration techniques. Respectively elaborating on the principles of calibration technique accelerometers and gyroscopes, installing matrix and for accelerometer components with the twelve position test method, installation matrix and null bias for gyro components with the angular position method,to provide the necessary parameter data for the navigation system;Analyzing the SINS alignment algorithm. Using the PINS compass alignment algorithm on the SINS platform. Constructing strapdown compass aligned loop. Using the reverse SINS algorithm and reverse compass alignment algorithm to construct the fast compass alignment algorithm, to repeat the test data mining, on the basis of ensuring the accuracy and shorten the alignment time, completed the orientation determining vehicle location system SINS initial subsystem;Error Analysis and Correction. Discussing SINS system error equations. Targeting SINS system location error, designing the ZUPT error correction algorithm based on the Kalman filter and GPS/SINS Kalman filter combination navigation;Programming the configuration software on the GPS receiver, to collect data for laboratory tests and car navigation test.Verifying navigation algorithm in this paper.The main innovation of this paper is to design and implement autonomous calibration, alignment navigation algorithms, error correction as one of the navigation system, independent preparation of VC-based GPS navigation data acquisition program to build a high-precision positioning and orientation of the vehicle system.