Research On The Technology Of MINS/Satellite Integrated Navigation

Integrated navigation is the combination of a variety of navigation techniques, and thecombined system is called Integrated Navigation System. Without the development of modernnavigation theory and technology, navigation can not appear. Any single navigation systemhas its own unique property, but also has limitations. Combine different single system, andeach system provides different information which has complementary strengths andweaknesses. All the single systems together constitute a kind of redundant, high accuracymulti-functional navigation system. The essence of navigation is set the computer as thesystem center, handle the information from each navigation sensor comprehensively andoptimizely, then display or output parameters. This paper presents an easy engineeringimplementation, low-cost and low-accuracy SINS/GPS integrated navigation system.Combined with the existing laboratory conditions, hardware and software are realized.First, a brief description about working principle and navigation algorithms of strapdowninertial navigation system is given. Through the analysis of inertial device performance, theinertial navigation system error propagation equations are listed. According to the error model,calibration method is designed. Through position and velocity experiment, zero position error,scale factor, and coupling error coefficient of inertial sensor are calibrated, and take thecoefficients into the error model to obtain the mean and standard deviation of angular velocityand acceleration. So measure the inertia device performance and predict the precision ofnavigation system.Then, use the micro inertial measurement unit (MIMU) and GPS as the navigation sensorto design integrated navigation system, including the hardware choice, circuit design. In orderto ensure the integrated navigation system is real-time and reliability, FPGA is set as system’scomputer to complete navigation solution and information fusion. The module control, datatransmission, data calculation, data fusion algorithm are completed by FPGA.Again, the initial alignment method is given. Because the MEMS gyroscope can not besensitive to the angular velocity of the earth rotation, the accelerometer and magnetometer areused for the attitude angle initial alignment of system. Take the alignment results into thenavigation algorithm. Analyze the advantages and disadvantages of SINS and GPS inapplications and use the position/velocity as the measurements of Kalman filter. SINS/GPSintegrated navigation data fusion is completed.Finally, realize the static and dynamic experiments for MINS/GPS integrated navigation system. From the experimental results can be seen, due to the GPS correction effect, theprecision of the integrated navigation system is much higher than the pure inertial navigationsystem and a good foundation for the further experimental research is laid.