Vehicle-borne INS/GPS,INS/Odometer Redundant Integrated Navigation System

Though INS/GPS integrated navigation system solves the errors accumulation of inertial navigation system well, GPS has the following problems such as badly dynamic response,susceptibility electronic interference,easily signal shelter etc, which make INS/GPS integrated navigation system not work normally or work in low precision. In order to improve positioning precision of integrated navigation system, a new vehicle-borne navigation system is designed, which is constitution of INS/GPS integrated navigation system and INS/Odometer integrated navigation system. The kernel design of redundant integrated navigation system is INS/GPS and INS/Odometer integrated method in the dissertation, the main studies as follows:(1) Study of the total design of redundant integrated navigation system and the main constitution parts and their functions; Research the integrated modes of INS/GPS and INS/Odometer; determining software structure of the navigation system.(2) Deeply analysis the error equations of inertial navigation system. The extended state vector method is applied to INS/GPS integrated navigation system in this article. Simulation and experimental results show that the navigation accuracy standard has been greatly improved.(3) Against the defect of low precision and unsolved scale factor error of traditional odometer, which makes INS/Odometer Integrated Navigation System can not meet demand of high accuracy navigation, a new digital odometer is introduced and designed. In order to betterment navigation precision of the INS/Odometer navigation system to maximum extent, the article deeply study level arm effect and level arm compensation which is caused by assemble. With the use of level arm compensation, INS/Odometer integrated navigation system caters to request of the system design.In addition, research has been done about dynamic single-point positioning principle of GPS and geometric dilution of precision (GDOP) affect on positioning precision. Through aggregate analysis above information, switching mode conditions is got which can make redundant integrated navigation system work in optimal mode.