Research On Vehicle Navigation Algorithm Integrating Gyroscope With Global Positioning System

Measurement of vehicle state information is the fundmental problem on researchand design of vehicle handling and stability. On the other hand, it also is the maincondition of implementation on vehicle electric and Intelligent Driver-Assisted. Sothat it is very important for all to how to acquire the veracious vehicle stateinformation. The main function of research on vehicle integration navigationalgorithm Gyroscope with Global Positioning System is providing real-timevehicle condition information for fast running Intelligent Driver-Assisted Vehicle.Inertial navigation system might provide real-time vehicle condition informationfor fast running Intelligent Driver-Assisted Vehicle. But the main disadvantage ofan unaided inertial navigation system is unbounded growth in the positionestimation error of vehicle. During this integration process, the error variance ofthe navigation state increases primarily due to sensor noise and errors in sensorcalibration and alignment. So after a period of integration, aiding sensormeasurements global positioning system can be used to correct the state estimates.Navigation system can provide the full state estimates more accurately than eithertechnique used individually. In addition, it would continue to provide positionestimates by inertial navigation system at times when signals from the aidingsensor global positioning system were not available.The main research in this paper is about the approach for vehicle GPS-INSintegration. The global positioning system is a convenient and accurate method fordetermining vehicle position in a global coordinate system. It can determine3-dimensional vehicle state and its signals are available in all weather conditions.But the main drawback of the global positioning system is low update rates, latency,and that the satellite signals can be blocked by obstacles (trees, tunnels, buildings).Taken independently, any positioning system of interest has advantages anddisadvantages. However, used jointly (with effective sensor fusion) the overall82吉林大学硕士学位论文performance and reliability of the system could be significantly improved.Nowadays, we incorporate the global positioning system and the inertial navigationsystem into overall systems. They would provide the accurate position informationnecessary.The main research content is,Firstly, in the article it narrates the theoretic deduction and mathematic theory ofvehicle GPS-INS integration navigation system. The mechanization equations arethe computer solution of INS differential equations based on computed andmeasured variables. The platform to navigation frame vector transformation matrixis calculated based on the Euler roll, pitch, and yaw angles. The Euler angles aremaintained by solving the differential equations. Then, in the article it narrates thestate space model of the inertial navigation system. It is made up of the navigationequation in Inertial Frame, the navigation equation in Earth Centered Earth FixedFrame and the navigation equation in Tangent Frame. Finally, it shows that thevelocity error is driven by accelerometer and gravitational model errors. And theattitude error is driven by gyro errors. The article shows the state equation andoutput equation.Secondly, in the article it narrates kernel algorithm of vehicle GPS-INS integrationnavigation system. Firstly, it shows the design of the plan about the integrationnavigation system, and the hardware description. The inertial instruments consist ofone Crossbow DMU-6x. The GPS hardware consisted of two Novatel RT-2receivers. Then in the article it tells that how to use these instruments, and how toacquire their data. In the end, it narrates that how to realize the kernel algorithm ofvehicle GPS-INS integration navigation system.Third, the simulating experimental validates correctness of the kernel algorithm ofintegration navigation system. The navigation system incorporates a strapdowninertial navigation system with the globa...