Desion Of Cruise Platform For Security Car Based On GNSS/SINS Integrated Navigation System

In recent years,security patrol robots and self-driving cars have become more and more widely used in modern society.This has also led to people's interest in automatic patrol and automatic driving.GNSS and SINS are two kinds of navigation systems that can complement each other.Therefore,the research on the combination navigation is rich,but a lot of researches have only been simulated.In order to realize the basic functions of the security car cruise platform,this paper implements the SINS,GNSS and SINS-GNSS integrated navigation system to realize its basic functions.The security car cruise platform implemented in this paper is mainly divided into two layers at the system level,namely the navigation calculation subsystem belonging to the upper system and the motion control subsystem belonging to the underlying system.Among them,the navigation calculation subsystem mainly consists of SINS system,SINS/VMS integrated navigation system and SINS/GNSS/VMS integrated navigation system,in addition to receiving and parsing the navigation command of the upper computer.The motion control subsystem is mainly controlled by the upper navigation computing subsystem,in addition to the human-computer interaction subsystem used to display the current system state.On the condition of selecting East-North-Up coordinate as navigation coordinate,the SINS system is implemented.And optimized the widely used attitude solving algorithm Mahony algorithm.Secondly,in order to correct the error in the SINS system which will accumulate over time,the Velocity Measuring System is used to calibrate the eastward and northward speeds;then combined the output after calibration with GNSS to get the final output of the system.The related mathematical operations of the combined algorithm are optimized for the hardware architecture features used.Both combinations are estimated for error,so Kalman filters are used.The Kalman filter is characterized by the fact that under linear systems,the noise characteristics are subject to Gaussian distribution and it can be optimally estimated.Finally,a series of experiments were carried out.Experiments have verified that SINS/VMS integrated navigation system is much better than the single SINS system in dynamic response and error accumulation.The experimental results of outdoor show that the accuracy of the SINS/GNSS/VMS integrated navigation system will increase with time.