Research On Vehicle GPS/SINS Integrated Positioning Technology

The initial military purpose of GPS satellite navigation system has been applied to the daily life of the public.With the increasing popularity,the application field has become more and more extensive.However,when the single satellite navigation and positioning system encounters the situation of receiving signal abnormity or working in the complex urban road conditions,the GPS signal will drift,seriously or even lose,resulting in the serious decline of navigation accuracy.The inertial navigation system is different from the GPS navigation system.It is a positioning solution to the attitude,speed and position of the carrier by measuring the motion state information of the carrier.It can achieve higher positioning accuracy requirements in a relatively short time,but its disadvantages are: when the gyroscopes and accelerometers in the measuring devices work for a long time,they will produce accumulated errors.So that the information errors of speed and position are divergent.Therefore,with the help of the integrated navigation and positioning system of GPS and inertial measurement devices to improve the navigation and positioning accuracy of the target carrier has become a research trend in recent years.Firstly,this paper analyzes and discusses the basic working principle and the respective solution methods of the satellite navigation system and the inertial navigation system,and expounds their inherent advantages and disadvantages as well as the error sources.Compared with the attitude calculation method of strapdown inertial navigation system,the GPS positioning method is used to calculate the attitude information of the carrier,and the error parameters of the inertial devices are simulated and set with the help of MATLAB,and the static simulation is carried out to verify the positioning accuracy divergence of the single positioning system.Secondly,the paper discusses and analyzes the multiple combination methods of integrated navigation system.The loose combination method is selected to combine the solution speed and position output of GPS receiver and inertial navigation device.Through the processing of Kalman filter,the relatively accurate positioning results are obtained.The results show that the accuracy of the output positioning data is better than that of single navigation system.Finally,the software and hardware integrated design of the integrated system is described.The measured values of GPS receiver,gyroscope and accelerometer of strapdown inertial navigation system are calculated respectively.The attitude,speed and position information of vehicle carrier is obtained.After the data processing,the data fusion processing of Kalman filter is carried out,and finally the positioning information after the accuracy is improved is obtained,through the code design of Java Script,baidu map API is used to display the dynamic track of the vehicle in the browser of PC,and the accuracy of the data obtained from the real vehicle experiment is compared to verify that the integrated navigation system has improved the positioning accuracy.