Research On MSINS/GPS Integrated Navigation System And Its Data Fusion Technology

The MSINS/GPS integrated navigation system has huge military, public worth and vast of applied foreground. In this dissertation, the main research lays emphasis on MIMU and GPS data prepare processing, hardware and software design of distributing navigation computer, data fusion method of the Micro-Miniature integrated navigation system. Main research contents and innovations in this paper are as follows:(1)The bracket of micro-miniature inertial measurement unit(MIMU) based on small scaled fiber-optic gyro and quartz flexibility accelerator has been designed, and the whole assemble has been completed. The performance test and analysis for gyro and accelerator have been done respectively. The calibration has been made for MIMU. Not only because the price of the three axes swivel table of high accuracy is very high but also because MSINS/GPS integrated navigation system can't receive the GPS signal to finish its dynamic experiment when it is installed indoors, a low cost MIMU calibration system using variable-geometry truss has been designed. Based on analyzing gyro data with wavelet transform theory to extract the trend portion, the ARMA model of gyro drift has been built. The format and the content of SUPERSTARⅡGPS receiver's message have been analyzed for different integrated navigation system's demands, and then the decode method of the GPS message has been introduced and the relevant algorithm program has been written.(2)Taking DSP as the core the MSINS/GPS distributed integrated navigation computer has been designed and its hardware and software have been debugged. Using float-point amplifier and complication program logic device (CPLD), sampling the data of MIMU in high speed and high accuracy has been realized. Single chip micro-computer has been used to receive, judge and verify the GPS message and they can be sent to the dual port RAM to be share, which leads to the realization of distributed control of the system. Multi-protocol UART RS-232/485/422 has been designed to realize communication of this system with host computer. To raise the ability of this system of attempering tasks, the real-time operating system—μC/OS-II has been applied in DSP.(3)The basic theorem of strapdown inertial navigation system(SINS) has been briefly outlined. The navigation calculating method and error models of SINS have been given. By analyzing the combination modes of MSINS/GPS integrated navigation system, the state equations and observation equations of combination system of position/velocity and pseudorange/ pseudorange-rate have been deducted respectively. The revising method of integrated navigation system has been confirmed. Aiming at the delay problem of GPS output message, 1PPS(one pulse per second) signal from GPS receiver, together with the timer and interrupt hardware resource of CPLD,DSP and MCU, has been used to resolve this problem. Finally, combined with the relevant...