Research On MIMU/GPS/EC Integrated Navigation Technology For Vehicle

With the development of the times, the role of vehicles as instead of walking tool in people's daily lives more and more important, and as part of the vehicle - vehicle navigation systems are also more and more people's attention. MEMS-based inertial sensor technology applications and rapid development in vehicle navigation system make the vehicle navigation system constantly evolving miniaturization direction, MEMS-based navigation systems have become a current research focus. This paper is made for vehicle navigation and positioning research,according to market requirements for vehicle navigation systems has the characteristics of a low price and high accuracy, in the paper INS based MEMS as master inertial navigation,while an electronic compass and a GPS system as auxiliary inertial navigation, vehicle navigation and positioning is studied. Our major works as follows:First, the relevant knowledge of the GPS system is studied, including the composition of the GPS system and the achieved method of positioning and speeding. It is the content of the key research that using the GPS carrier phases measurements to achieve positioning. The paper gives the linear measurement formulas and the three difference model equations of the GPS carrier phase based on this formula. The paper analyzes the various appearing errors which using the GPS carrier phase for positioning and proposes methods to eliminate the impact of these errors on the positioning and navigation.The next of step, it is more thorough research for the integer ambiguity which must be required for using the carrier phase to position and navigate. The research status and the process of solving of the integer ambiguity are briefly introduced, then according to restrict the objective conditions of the laboratory and time, using the least squares ambiguity decorrelation adjustment to solve the integer ambiguity is proposed, and its process of solving is the detailed discussion and analysis. Finally,using MATLAB programming language realize the algorithm based on the process of solving.The next of step, the relevant knowledge of the MINS and the electronic compass are introducted and researched, including their working principle and the derivation of their error equations. Based on above content, two methods for initial alignment micro inertial system are proposed, namely the GPS-assisted alignment and aligned with the aid of the electronic compass. After the completion of the above study, micro inertial/EC integrated navigation system is designed and the state equation and measurement equation of the integrated navigation system are established. The simulation experiment is carried out for the integrated navigation system.Finally, based on above research content, in order to meet the requirements of the vehicle navigation applications, micro inertial/GPS/EC tightly integrated system solutions is proposed and designed. Then the state equation and measurement equation of the tightly integrated system are established. By analyzing the simulation results verify the reasonableness of the proposed scheme, and the tightly integrated system can provide high accuracy for vehicle positioning and navigation from the graphical of simulation.