Research And Implementation Of GPS/MEMS Integrated Navigation System Based On Android Mobile Terminal

The integrated navigation system based on Global Positioning System(GPS)and Strap-down Inertial Navigation System(SINS)is a research focus in the field of navigation.GPS can provide global,all-weather,high-precision navigation and positioning services,but under circumstances that can not receive GPS satellite signals or GPS satellite visible number is less than 4,its advanced navigation performance is difficult to play out.SINS system uses Newtonian mechanics principle to measure the motion parameters of the carrier.The navigation effect is not affected by the external environment,but has the drawback that the error is large and the error is easy to accumulate.While the two systems can be combined to achieve the complementary advantages of them.Microelectronics technology make it possible to integrate complex system structures on millimeter scale silicon wafers.The GPS receiver chip and gyroscope-accelerometer chip based on Micro-Electro-Mechanical System(MEMS)technology make the traditional navigation system can be realized on the circuit board with smaller volume.The development of computer technology makes the mobile terminal has a higher and higher digital computing and information processing capabilities,and smart phone is comparable with the computer's computing performance.Android-based mobile terminal integrates a variety of peripheral circuits,including GPS receiver chip and gyroscope and accelerometer in one MEMS module.Therefore,this subject chooses to perform the GPS/INS integrated navigation system research on the Android mobile terminal,which makes it possible to focus on the algorithm implementation.In this paper,the principle and method of positioning based on GPS navigation message are studied,and then the limitation of GPS navigation system is analyzed by learning the working principle of GPS navigation system.Then the navigation and positioning principle of inertial navigation system based on accelerometer and gyroscope are studied,and various error models of inertial navigation system are discussed.The incomplete reliability of inertial navigation system as independent navigation system is analyzed,then the author draws a conclusion that the combination of satellite navigation system and inertial navigation system is necessary and feasible.Then,the GPS/INS integrated navigation algorithm is researched,the state equation and the measurement equation of the integrated navigation filter are analyzed,and the error model of GPS/INS combined model is analyzed.The navigation effect of the integrated navigation system is simulated by MATLAB simulation experiment.The results were analyzed.Finally,based on the Android mobile terminal,the author designed the navigation software to implement the integrated navigation algorithm,and verified the feasibility and the effect of the integrated navigation system on the Android mobile terminal.And based on the Baidu map SDK to achieve the motion trajectory rendering.