| With the development of satellite navigation technology,GPS,BDS and ot her satellite navigation systems have high positioning accuracy in static position ing and dynamic positioning.The positioning accuracy of satellite navigation sy stem mainly depends on the strength of satellite signals,but in some shaded r oads,parking lots and high-rise buildings,the satellite signals are extremely we ak.In most cases,the satellite signals can not be reached.A set of real-time p ositioning system for vehicles without satellite signals is designed.Inertial navi gation system is an autonomous navigation positioning system.After providing initial positioning data,the inertial navigation system can integrate yaw angle a nd acceleration according to its own inertial sensors and satellite navigation co mputer,and then get the displacement of the navigation terminal by accumulati ng the initial positioning data.Finally,the position of the object can be obtain ed,but the pure inertial navigation system can not be timely.The initial positi oning data are updated,and the sensor itself has some errors.The accumulatio n of long-time errors will lead to the increasing positioning errors of the navig ation system,which can not meet the positioning accuracy of the vehicle navig ation.The GPS/SINS integrated navigation and positioning system designed in this paper can solve the problem of updating the initial data of inertial navigat ion,and it still has better positioning accuracy and fluency without satellite sig nals.The main research work and conclusions are as follows:1?This paper introduces the composition of GPS/SINS integrated navigatio n and positioning system and the theoretical knowledge of key technologies,an d compares some components for the practical project of vehicle navigation,an d makes the most suitable choice for vehicle integrated navigation system,such as the selection of loose combination mode of the two systems,the selection of Kalman filter in data fusion,WINCE operating system and so on.Vehicle i ntegrated navigation is a special dynamic positioning project selection.2?This paper studies the coordinate system involved in the system.The WGS84 coordinate system is used in GPS,the carrier coordinate system is use d in inertial navigation system,and the navigation coordinate system is used in electronic map.In this paper,the transformation methods of these two kinds of coordinate systems are studied,and the transformation formulas are deduced to solve the problem of coordinate system inconsistency in integrated navigati on system.After coordinate system transformation,they are converted to naviga tion coordinate system adapted to electronic map.The experimental map matchi ng results show that the coordinate transformation effect is good.3?Based on the analysis of the positioning performance of integrated navi gation,dynamic and static vehicle-bome experiments are designed in the experi mental part of this paper.There are complex large-area Lake surface,shaded r oad section,high-rise building road section,etc.along the design route,as well as long-distance normal unshielded road section.The experimental results sho w that the static positioning accuracy and dynamic positioning accuracy of the vehicle are very high after the treatment of the experimental results,and at the same time,the dynamic positioning accuracy of the vehicle is very high.The accuracy of dynamie positioning reaches 1.5 meters in the normal section,and will increase sharply in the shaded section,but convergence will occur after a n average of 4.5 seconds,and the matching effect is good in map matching,which achieves lane-level matching.The experimental results show that the pos itioning performance of the integrated navigation system is better than that of t he pure inertial navigation system and the single GPS system.The positioning accuracy of the system is higher than that of the other two kinds of navigatio n systems,which meets the engineering requirements of vehicle navigation.Figure[27]Table[3]Reference[80]... |
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