Research On Technology And Algorithm Of GPS/INS Integrated Navigation Based On Electronic Map

Vehicle navigation system has important significance to intelligent vehicle. On the one hand that navigation system offers information of position, velocities and attitudes in global navigation coordinate system for vehicle, on the other hand, the optimal path is planned according to different driving tasks. Moreover navigation points are provided, which can help vehicle autonomous running in complicated environment. Under the background of integrated navigation for intelligent vehicle, this paper focuses on the method of integrated navigation aided by electronic map in urban environment.Firstly, the state and measurement equations of GPS/INS integrated navigation system are established. Then the research on accurate positioning of a vehicle can be divided into the following two parts:on the basis of a fault detection algorithm for GPS data, a dead reckoning compensation method is introduced into Kalman filter to enhance the precision of the system. Furthermore, in order to calibrate the error of GPS, an improved algorithm of map-matching is applied to vehicle navigation. The algorithm is effective in improving the accuracy of vehicle location, which is indicated by a contrast test.Secondly, a study of optimal path planning in urban environment is accomplished. Based on the fundamental knowledge of graph theory, the math description of road networks is discussed. After analyzing the traffic rules and road levels in practical applications, an A-star algorithm based on layering is proposed, which sactisfied the requirements of accuracy and real-time performance. What’s more, the algorithm is suitable for path planning in both large and small ranges.Finally, based on Visual Studio2008.Net integrated development environment, a GPS/INS integrated navigation system is implemented by C++language by using MapX as a graphic toolbox.