Study And Implementation Of Map-Aided Vehicle Integrated Navigation System

Abstract:Vehicle navigation system is the one of the most important part of intelligent vehicle. Intelligent vehicle need to verify whether it is driving on the planned road,so having high positioning accuracy is very important for intelligent vehicle. Under the background of integrated navigation for intelligent vehicle,the paper focuses on the method for GPS/SINS integrated navigation with electronic map aided in urban evironment.Firstly,the method of solving navigation parameters for strap-down inertial navigation system is introduced.Then analyses the error model of GPS and SINS,and the state and measurement equations of GPS/SINS integrated navigation system are proposed.The experiment validates the proposed method.In order to improve the precision of system,the algorithm of map-matching is researched. Different map-matching algorithm has different applicable conditions,they have their own advantages and disadvantages on match accuracy and efficiency. Taking into account these,a map-matching strategy based on road classification is proposed,further reduced the lateral error when moving.Secondly,a study of optimal path planning based on electronic map is accomplished.After disscussing of commonly used optimal path planning,the path planning method based on layering is deeply analysed,The performance requirements in accurate and real time is satisfied by using this method.Finally,a vehicle integrated navigation software system is developed by using VC++software and MapX control.Some functional model such as navigation data inputing, map-matching and optimal path planning are implemented.