Research On ATV Vehicle Integrated Navigation Technology Based On Dual Antennas

The ATV for forest fire-fighting play a key role in sending out the police quickly to extinguish the fire and protect the forest resources,and the vehicle navigation system is the key to guide the ATV to arrive at the fire scene quickly.Due to the harsh environment,ATV is vulnerable to interference in the process of driving,which affects the navigation effect.Therefore,it is of great significance to study a reliable and high-precision ATV vehicle integrated navigation method.In this paper,based on a GPS/DR Integrated Navigation System,a vehicle integrated navigation method using dual antenna is proposed,and the integrated navigation algorithm is studied.In the GPS/DR Integrated Navigation System,the calibration of electronic compass is complex and the output is easily disturbed.To solve this problem,a dual antenna GNSS/MIMU/OD vehicle integrated navigation method is proposed.The dual antenna GNSS provides position and attitude information and integrates with MIMU/OD.When the satellite signal interrupts,MIMU/OD can work for autonomous navigation.Secondly,in order to solve the problem of error accumulation in DR system composed of MIMU/OD,the method of correcting MIMU/OD with dual antenna GNSS.The state equation and measurement equation are established to estimate the error of MIMU and odometer.The simulation analysis of the DR system shows that dual antenna GNSS can correct MIMU and odometer effectively.Then,the outliers of the observation data are eliminated through outlier recognition algorithm,and the good performance of the current statistical model is verified by the simulation of three commonly used carrier motion models.Three widely used nonlinear filtering algorithms are also verified,and the stability of CKF is proved.In view of the lack of robustness and adaptability of CKF algorithm in the case of abnormal noise and the change of noise characteristics,the H?CKF with good robustness is selected for improvement in this paper.The AH?CKF algorithm with good adaptability and robustness is formed by combining Sage-Husa adaptive estimator with H?CKF,and the algorithm is verified by simulation.Finally,in order to verify the effectiveness of the proposed method,static and dynamic experiments are carried out.The static test proves that the attitude measurement effect of dual antenna is better than that of electronic compass.The data collected from the dynamic car experiment was post-processed.The simulation results show that the horizontal positioning accuracy of the old solution GNSS/MIMU/OD method can reach 1.13 m,which can achieve a high precision positioning.