Research On The Positioning And Orientation System Of SINS/OD Integration

The vehicular Positioning and Orientation System(POS)could provide accurate attitude,velocity,position and other navigation information for the vehicles in real time.It has become the key equipment for vehicular platforms and its performance is directly related to the combat effectiveness of army vehicles in modern warfare.Generally,Strapdown Inertial Navigation System(SINS)is the first choice for vehicular POS because its completeness characteristic in the output of navigation information,but SINS is a dead reckoning system and its error is accumulated over time.Therefore,the integrated navigation technology is usually adopted to improve the overall performance of SINS.Currently,the integration of SINS,GPS or BeiDou is a commonly used method to POS,which could meet the precision requirements of vehicles for positioning and orientation.However,for military special vehicles,such as missile launchers,have requirements for autonomy and concealment strictly.Therefore,the SINS and odometer(OD)integrated navigation system has become an important research topic in vehicular POS.In this paper,a set of POS with fully-autonomous and high-reliability is designed and implemented through the research of the SINS/OD integrated navigation system.Specifically:Firstly,the overall scheme of the SINS/OD integrated POS is designed.The research purpose is implemented by researching on the functions and compositions of the integrated POS.The key components of the POS are determined according to the designed objectives,and the theoretical feasibility of the selected components is analyzed and verified by simulation.Secondly,the principle of the SINS/OD integrated POS is analyzed.A simple derivation of the digital recursive algorithm for SINS is demonstrated,and then the error of SINS/odometer integrated POS analyzed.Moreover,the initial alignment algorithm and the integrated navigation algorithm of this system are designed,and meanwhile their correctness is verified by simulation.Thirdly,the hardware circuit of SINS and OD information sampling module is implemented by the designed overall scheme and the selection of key components.Then,the software of the system is also designed according to the algorithms and functions of the integrated POS.In addition,the experimental platform of the SINS/OD integrated POS is constructed.Finally,the verification experiments of the SINS/OD integrated are conducted.At the beginning,the calibration and error compensation of the inertial measurement unit(IMU)and odometer are implemented.Then,the accuracy of the POS is testified by both the initial alignment experiment and the dynamic experiment.The experimental results demonstrated that the orientation accuracy of the POS is less than 0.06 degrees(1mil)within the alignment time of 5 minutes,and its positioning accuracy is less than 0.2% of the total mileage.