| Nowadays indoor integrated navigation technology has been widely used in industrial applications,where different navigation systems collaborate to complete navigation and positioning mission for mobile devices and the optimal estimation of the actual pose of mobile devices is made by fusing the output information.For integrated navigation systems,the alignment between different subsystems is the premise of final information fusion,and how to combine different subsystems is the key to the stable operation.In this thesis,the alignment problem of the integrated navigation subsystem is studied and an indoor integrated navigation method based on the combination of inertial navigation system and workspace measurement positioning system is proposed.The benchmark of inertial navigation system and workspace measurement positioning system is unified by the alignment method,and the navigation and positioning of indoor workspace mobile devices is realized effectively.The navigation performance of the integrated system is better than that of any single subsystem.In this thesis,navigation principle of integrated navigation system is mainly discussed,and the velocity and position equations are derived.The global measurement coordinate system is also defined,and three kinds of alignment models are designed to solve the pose relationship between inertial navigation coordinate system and global navigation coordinate system.The experimental results show that the attitude matrix can be effectively obtained by the alignment model,the highest angular accuracy is 0.25°,and the relative positioning error is about 4%,which can meet the requirements of location accuracy for industrial mobile devices.The main research work and innovations in the thesis include:1)The thesis surveys and studies the research status of indoor integrated navigation system,analyze solution methods of the pose transformation relationship among several typical indoor integrated navigation systems coordinate frames,and summarize the characteristics and application scopes of physical mapping and mathematical mapping.2)A new-type indoor integrated navigation solution is proposed.The positioningprinciple of inertial navigation system and w MPS is introduced in detail,and the progress of integrated positioning is derived.The thesis describes the alignment method based on the transformation between the INS navigation coordinate and the w MPS coordinate.3)This thesis focuses on alignment problems of the INS/w MPS integrated navigation system,and introduces two alignment methods: the physical mapping method based on one-dimensional horizontal rotation and three-dimensional orthogonal rotation and the mathematical mapping method based on solving matrix constraint equations.Then principles,model building process and the advantages and disadvantages of the two methods are detailed.4)Finally the thesis discusses the experimental platform building,verify the alignment effects of different alignment methods,analyze and simulate systematic errors.At last feasible approaches are put forward for improvements of alignment methods.Subsystem alignment method has realized the stability of integrated navigation system,which provides a fast,intelligent and accurate navigation tool for modern industry,and holds great promise in a wide variety of applications. |
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