The Design Of Land Vehicle Integrated Navigation System Based On MSINS/GPS

With the rapid development of modern transportation, it is quit necessary for vehicle to be capable of navigation and positioning. Micro-Mechanical Strapdown Inertial Navigation System/Global Positioning System (MSINS/GPS) integrated navigation realize the complementary advantages, and it is a very promising integrated method for vehicle navigation and positioning. In this paper, the medium-low accuracy and low-cost MSINS/GPS integrated navigation system for land vechicle is designed and fulfilled based on conditions of the laboratory. Firstly, the principle of SINS and GPS is introduced and different integrated modes and calibration methods are compared.Secondly, Federated Kalman filtering technique of the integrated navigation system is investigated. The state equation and measurement equation are established based on position-velocity integrated mode. For the drawbacks of a centralized Kalman filter, a high reliable and strong fault-tolerant Federated Kalman filter is proposed. the data synchronization in the system is studied.Thirdly, a land vehicle navigation system is designed based on Micro-Inertial Measurement Unit(MIMU) and GPS sensors. In the system, FPGA is the core to realize data acquisition and preprocessing, and DSP is used to fufill navigation and data fusion. the data exchange betwwen FPGA and DSP is realized throgh dual-port RAM, which guaranteed reliability and real-time of the system. On the basis, the hardware and software of the system is achieved.Finally, a static test of the MSINS/GPS integrated system is conducted, the results show the primary functions of the system are realized, the navigation accuracy is greatly improved compared with only MSINS and have paved the way for further experimental studies.