Research On SINS/GPS Integrated Navigation System Based On MEMS Inertial Sensor

Navigation technology is widely used in military and civilian areas. How to reduce navigation costs and volume of equipment under premise of accuracy is an extensive engineering issue. Varieties of navigation information sources are used in integrated navigation system to estimate the optimal navigation results which are complementary. It is of great significance to improve integrated navigation effect, reduce requirements for navigation subsystem performance and cost.Principles, methods, species and other aspects of integrated navigation between inertia navigation and satellite navigation are discussed in this paper.Firstly, structure and process of SINS/GPS integrated navigation are analyzed detailly with differences among loose coupled, tight coupled and deep coupled mode. The characteristic and scope is proposed with progress in academic and engineering society, which lay the foundation for the following ideas.Secondly, different motions are simulated with different motion to compare verify accuracy and filtering effect of loose coupled and tight coupled modes, which are widely used in theoretical research and practical application. High observation and availability in shelted environment are advantages of tight coupling while disadvantage is the complexity of calculation comparing with loose coupling which can only work in open environment. Based on the results, an adaptive structure switching algorithm is put forward to select and switch to a suitable combination structure online with assurance of smooth handover.Then, four methods of deep coupled mode in acquisition, tracking, immunity and integrity monitoring application are proposed by theoretical analysis and simulation. The scope of increased performance of satellite navigation receivers is concluded.An integrated navigation systems is developed to verify the performance of different structure and switching algorithm. Structural planning, hardware and software design and other aspects of development process are described. A FPGA-based soft-core multiprocessor collaborative computing architectures with parallel computing processor and synergy is proposed for the demand of real-time calculation which can complete satellite navigation solution, SINS solutions, filtering and structure switching at the same time. Intermediate frequency signal associated equipments are designed to enable rapid reproduction of the same satellite navigation environment and improve efficiency of debugging process of deep coupled modeFinally, to verify the performance of algorithm of different structures and adaptive switching algorithms a semi-physical simulation platform is set up with turn table and GNSS signal simulator.