GPS/DR Integrated Vehicle Navigation System Based On MEMS And Design Of Federated Kalman Filter

With the popularization of the automobiles, Traffic becomes to be a much more serious problem, so more and more attention has been paid to the development of the vehicle navigation&positioning technology. The GPS/DR system is one of the preferable projects in the integrated vehicle navigation system. On one hand, the system can overcome the disadvantages of using GPS only, for example, GPS cannot position the location accurately when it has been sheltered by other objects. On the other hand, it can combine the advantages of GPS and DR to improve the precision of positioning and reliability.A new kind of GPS/DR integrated vehicle navigation system base on MEMS component is presented in this thesis, which uses GPS, MEMS accelerometer, MEMS gyro and electronic compass as sensors, and ARM9 as microprocessor. This system has a lot of strong points like small size, low power, low cost and high quality, high precision, etc.Firstly, the thesis researches the feasibility of the new system, the conclusion is the new kind of GPS/DR navigation system based on MEMS component reaches the precision requirement, can overcome the shortages of the traditional systems, and reduces the size and power.Secondly, the thesis introduces the method of hardware design, describes the structure of the system, designs the smallest system of ARM9 and the peripheral of the navigation system, gives the particular schematic circuit diagram of each part, and tests the static performance of each part, the result is according with the facts, and the tolerance is within limits.Finally, the thesis sets up the Federated Kalman Filter fitting for the new system, brings forward the information distribution coefficient algorithm based on dynamic comparision which ensures the high precision and good dynamic performance of the navigation system.