Design And Implementation Of Integrated Navigation System Based On Multi_sensor Information Fusion

With the rapid development of mobile robot,the performance of navigation system is more demanding.Single navigation system has difficult to meet the demand.It is a new trend to research integrated navigation system based on multi-sensor information fusion.The following work has been carried out on the design and implementation of multi sensor integrated navigation system.First of all,the basic concepts and basic principles of navigation system were introduced.The basic principles of inertial navigation system(INS),the principles of global positioning system(GPS)and Kalman filtering principle were introduced,too.Secondly,the gyro error sources for gyro random error was analyzed,and autoregressive and moving average model(ARMA)was established,the corresponding Kalman filter is designed to compensate the gyro error based on the model.Based on the error equation of inertial navigation system,the Kalman filter model of INS/GPS integrated positioning system was established.In view of the problem of poor GPS signal observation and loss of lock,the fault test method of state chi-square test was proposed.On the basis,the improved state chi-square test was proposed to avoid the pollution of the filter caused by incorrect observation information.Again,the principle of magnetic heading measurement was introduced,and the magnetometer error sources was analyzed,recursive least squares was designed to fit ellipse,and error compensation of level measuring component of the magnetometer was made;Kalman filter model of integrated attitude determination system based on error quaternion was designed.Against the sudden strong magnetic interference in the moving mobile robot,an improved residual Chi square for fault detection was proposed.Finally,the embedded integrated navigation system was built on the mobile platform Pioneer,and the outdoor vehicle experiment was carried out,and the experimental results were evaluated and analyzed.The experimental results show that the performance of the integrated navigation system is obviously superior to the single navigation system,and the error observation information provided by the GPS and magnetometer can be effectively provided.