Research Of Deeply MEMS-IMU/GNSS Integrated Navigation System Based On Software Receiver

Currently, there are two main navigation systems named Inertial Navigation System and Global Navigation Satellite System, a combination of which provides complementary information. Deeply integrated navigation and data fusion technology can further improve the accuracy and reliability of navigation systems. Thus, to enhance the INS/GNSS navigation performance, it is of great theatrical significance and engineering reference value to further study and analysis the deep integrated navigation technology.Based on software receiver, this paper, selecting a relatively mature technology and low cost MEMS-IMU as inertial sensors, gradually studies tightly integrated navigation, vector tracking loops, deeply integrated navigation system, the main contents as follows:.Firstly, the thesis introduces the background of integrated navigation technology and its current development at home and abroad. It analyzes two nonlinear filtering techniques, EKF and UKF, and the software receiver has been designed and implemented. This paper has studied and designed the INS aided tightly integrated navigation system, and researched two anti-interference methods of tightly integrated navigation receiver,on the experimental verification of INS aided tightly integrated navigation system in the simulation experiment and hardware platforms.Then, this paper has carried out the research work about vector tracking loop based on the observation of I and Q signals. The intrinsic relationship between the phase and frequencies measurements of loop signals and receiver states have been analyzed. In two different filtering algorithm(EKF, UKF), it has conducted highly dynamic and a new tracking simulation experiments to the designed vector tracing loop.Then, the paper has done a detailed study and design work about deeply integrated navigation system. It studies three kinds of deeply integrated navigation system architecture models. It also analyzes two key technologies—the extraction of observed quantity and the signal controlled method of loop replication, discusses the influence of INS error on the control of deeply integrated loop, and performs experimental analysis the measurement error of three kinds of deeply integrated navigation algorithms under static and dynamic environments.At last, on the basis of software receiver and theoretical research of deeply integrated navigation technology, it has done the research on the platform of deeply integrated navigation system simulation experiment and hardware system based on FPGA and DSP. In addition, the measured data about controllable performance of tracking loop of deeply integrated navigation system are verified on the hardware platform.