The Design And Research Of Positioning And Orientation System Based On FOG

With the development of science and technology,single navigation locating and directing system can't satisfy the need to the precision of navigation and locating and directing in the military field and public field.The integated navigation system have been applied to many field for it's high precision and lower cost.The integrated navigation system composed of inertial navigation system and Global Position System have been to the trend of the navigation and locating and directing system. The Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) are highly complementary to each other. The full fusing SINS with GPS can meet the high accuracy, high continuity and high reliability navigation requirements.This paper focuses on the design and research of positioning and orientation system based on FOG,mainly including the following aspects:1. This paper analyzes the background and significance of the subject and introduce the development of Strap-down Inertial Navigation System, Global Positioning Systems and SINS/GPS navigation system briefly.At the same,the development of fiber optic gyroscope was introduced.2. The category of the SINS/GPS navigation system is showed.Loose combination,close combination and ultra-tight combination of the basic structures and working methods are introduced and analyzed simply.3. The overall design of the hardware of the system is done.Based on the need of component selection of hardware design, appropriate components for the system is chosen and intrduced briefly.4. Reference frame and Earth Parameters are described in this article,and initial alignment of the system are described.The algorithms of SINS and GPS are detailed designed.Then linear Kalman filter algorithm and nonlinear extended Kalman filter algorithm are introduced.The combination based on position and velocity model and the combination based on pseudorange and pseudorange rate model are analyzed.5. The calibration of inertial measurement devices and the system alignment prvide the device output which can meet baseline information of the positioning and orientation system within the range based on the FOG and provide the system with high accuracy North and initial strapdown matrix.After repeated testing of the system,this system can basically achieve the function of positioning and orientation.Compared with the SINS system, through the analysis shows that GPS/SINS integrated navigation system for positioning and orientation accuracy has improved.