Alignment Algorithms Based On Vehicular SINS/GNSS Integrated System

The alignment and integrated navigation system for vehicles is a key technology for accuratemissile guidance and control systems, and is now being paid great attention by researcher. Thealignment of moving base mainly includes transfer alignment with main inertial navigation systeminformation and the alignment with GNSS information.Multi-constellation navigation satellite system,calibration of inertial equipments, alignment alogorithms for vehicular system and its realtimerealiziment realization are researched in this paper rseparately.In connection with the research of multi-constellation navigation satellite systems, an improvedfading-factor adaption filter algorithm and a new federal filter algorithm with special informationsharing factor are put forward in this paper. The first adaption algorithm effectively reduces theaffection to navigation accuracy caused by maneuvering. While the second algorithm improves theaccuracy and realizes fault isolation, using special information sharing factor.As to the calibration of vehicular inertial equipments, a method using speed/position/attitudeerrors of integrated SINS&GNSS as observation is proposed. Kalman Filter of thisnew algorithm has33orders, making all errors of IMU to be calibrated. This method is complished outside with adynamic environment, and it realizes the calibration of IMU and compensation of the inertial system.The basic principle of alignment was researched. Speed, position, attitude,specific-force-integration, angular velocity, multi-information matching transfer alignment algorithmsand their models are researched in this paper. Numerical simulations are carried out under differentvehicular maneuverings, which makes the theory foundation for following research of Semi-physicalsimulation system and the actual experiment realtime system.The indoor Semi-physical simulation system based on PC104and PC was presented fromhardware, software and simulation. Then reduced order kalman filter of Speed&position&attitude andspecific-force-integration&angular velocity matching algorithms are simulatedhere. This can wellimprove the instantaneity of Semi-physical simulation system and the actual experiment realtimesystem, having great engineering application reference value.At last, the actual experiment realtime system based on PC104and IMU equipment wasestablished. The problems of calibrations, errors analysis of the vehicular inertial equipments,hardware connection and test, realtime data processing, algoritnm simulation are all researched one byone. Later on, by the reproduction of all the collected data, the accuracy and the effectiveness of thereal system was proved All of that above improves that the actual experiment realtime system basedon PC104and IMU equipment has some practicality and engineering guidance.