Design On Vehicular Integrated Navigation System Based On Multi-Accelerometer

Inertial navigation is a kind of autonomous navigation system.It outputs continous accurate navigation parameters and owns ability of anti-interference, these merits makes it superior than other navigation systems. Traditional strap-dowm inertial navigation system involves gyroscopes. The high-cost has limited its application in cost-sensitive occasions such as vehical navigation. Gyroscope free strap-down inertial navigation system is composed of only accelerometers, and has simple construction and inexpensive advantages. It also outputs all navigation parameters the SINS offeres. For its prospect, an integrated vehicle navigation system base on GFSINS has been designed in this paper.First of all, the development of the navigation profiles, analysis of domestic and international car navigation technology status and trends, overview of the main contents and work of this paper has been given. Then constitution, navigation theory and systematic error sources of the gyrocope free strap-down inertial navigation system, electronic compass, global positioning system has been introduced and analyzed.The particularity of the GFSINS is that the angular velocity it provides is obtained through the settlement, and for this reason various solution method has been discussed. To improve navigation accuracy,12 positions and least square solution are respectively applied to the GFSINS and EC error compensation. Considering information fusion problem of the integrated navigation system, kalman filtering theory has been analyzed, state equation, observation equation, and federate kalman filter with correction feedback has been established. By analyzing integrated navigation system data acquisition and processing needs, FPGA and DSP have been chosen as navigation computer, and design details of FPGA function modules, FPGA and DSP hardware circuit and software process have been given. Finally, the simulation results have proven the navigation perfomace of integrated navigation system.A simple structure, stable, reliable, low-cost vehicle navigation system has been designed in this paper.