Research And Design Of Deeply GPS/INS Integrated Navigation System Based On Vector Tracking Loop

In recent years, with the rapid development of navigation technology, the performancerequirements of the navigation system are higher and higher. Integrated navigation technology canrealize the complementation of the receiver and inertial navigation, and deep data fusion technologycan improve the navigation system under the environment of high dynamic performance. Aiming atthe integrated navigation technology, this paper mainly studies and analyzes the basic principle ofvector tracking loop and its working process, and discusses technical problems about deeply GPS/INSintegrated navigation based on vector tracking loop.Firstly, this paper discusses the GPS/INS integrated navigation technology’s background andresearch status at home and abroad. From the perspective of satellite navigation receiver’s loop filterand its loop error, we analysis various kinds of filter which affects the performance of tracking loop,put forward the doppler compensation algorithm based on adaptive α-β filter tracking loop, andanalyze its tracking performance in high dynamic environment.On the basis of the traditional tracking loop and vector loop, this paper studies the pretreatmentof vector based on carrier tracking loop design algorithm. Through simulation analysis, itsperformance is better than traditional tracking loop and vector tracking loop. For pretreatment ofvector based on carrier tracking loop algorithm, this paper also designs GPS/INS integratednavigation system based on vector tracking loop. Vector channel preprocessing filter model andintegrated navigation filter model are established together. Through simulation, deeply integratednavigation based on vector tracking loop error is smaller than the traditional integrated navigationsystem of navigation error, and it improves the positioning precision.Finally this paper proposes a project about vector deeply integrated navigation system based onDSP and FPGA, summarizes the DSP and FPGA hardware platform interface circuit’s designprinciple of each module and puts forward design idea of the overall software. This paper also testpart of the function module of DSP and FPGA, and verified the engineering feasibility of deeplyintegrated navigation.