Research Of The Xg-1 Autonomous Vehicle Navigation Systems Based On The Integrated For Ins/gps

The autonomous vehicle is an unmanned ground vehicle that can steer independent and can execute campaign mission by itself,it has artificial intelligence and the advanced sensor technoloy.Atuonomous vehicle is the important stage in the development of the unmanned grouned vehicle,and plays an importment part both in the military field and in the civil field.Whereas,autonomous civil has some problems in the key technology fields,such as the auto-navigation,target acquisition and identification.Hence,optimizing research on the technology limitation of autonomous vehicles becomes the hotspot,also,it is the necessary measure that improves the intelligent and the stability.The paper interprets the autonomous vehicles'status quo and the trend of development, analyses the charcteristic and the key technology of the XG-1,designs the navigation controlling system,expatiates the applicate background and the technology backstopping on the navigation system of XG-l,intensivily studys the technology implementations,demonstrat-es the advantage of the XG-1 navigation system.Inertial navigation system has the virtue of the anti-interference electron irradiation,flying in big power-driven,good shielding,but the errors of the navigational parameter can accumulate along with the times,so it's not suitable for navigating depended for a long time.The exident virue of the global position system is that it can all-weather and globaly navigate in real time,and its positional error does not matter to time,yet,the involuntary satellite signals is easy to be interfered,and the signals can miss when it is sheltered.So,using alone INS or GPS is not benifit to locate accuracy,integrating the two naigation systems in proper ways to compose an integrated system can to make up for each other's deficiencies,exert each other's virtue suffiieney,advance the navigation system's precision and capability.The paper adopts loose coupling ways of displacement and velocity to integrate theXG-1 autonomous vehicle navigation system to achieve the target of navigate accuracy.Finally,the paper resolves the navigation message that is received by integrating,decides the navigation control instruction by the way of estimating the sizes and the areas of the yaw and the crosstrack error, designs the driven controlling module to demodulate,magnify and drive,and at last output the cornor controlling quantity to drive the XG-1's actuator,realize the navigation controlling for XG-1 autonomous vehicle.