Design Of Small-sized RLG Inertial/GNSS Integrated POS And Its Test Technology

Small-sized high precision RLG Inertial/GNSS Integrated Positioning and Orientation System(Hereafter referred to as POS) is an important branch of inertial technology. POS is widely used in the field of surveying, draw, control and etc. The aim of the dissertation is to develop a set of high precion POS that can be used in the field of engineering.Firstly, an integrated POS design proposal was put out and then we conducted mechanics analysis and thermal analysis with Finite Element Analysis method. After a lot of simulation and error analysis, the main instruments and main functional parts were confirmed. The selected instrument are three type 50 RLG with its drift lower than 0.01°/h and three accelerometers. At the same time, we gave a double-CPU computer circuit scheme and small-sized I/F converter circuit and power circuit and another important part – TRIMBLE BD970 GNSS receiver.Secondly, we gave a 12 positions plus velocity calibration scheme according to the existing calibration and it can be operated conveniently. The test data output from POS was fully used in the prcoess of calbration. It was shown that the calbration scheme is practical and reasonable by calibrate the POS at different temprature conditions. In the light of inertial sensors and circuits parameters change with temperature, we gave the compensation algorithm for POS by analyzing the error mechanism and the data from calbration at different temperature. It was concluded that the position accuracy of inertial navigation can be improved by 3 times after temperature parameter compensation.In the land vehicle conditons experiment, it was shown that the accuracy of the POS was close to Novetel 100 C FOG inertial navigation system. In the end, we test the performance of the POS on high-speed railway and it was shown that the attitude accuracy is about 0.004 degree.