| Automobile is the most basic and popular transportation in modern society.Compare with high cost platforms like airborne and carrier-borne,vehicle navigation requires high quality service and low cost at the same time,so its realization is more stringent.Nowadays,the most popular vehicle navigation technology is GPS navigation based on map-matching,which can provide low cost but high quality service via GPS and GIS frames.GPS navigation has the advantage of all-weather,high precision,high efficiency and many other advantages,but when the navigation equipment used in bad geographical environment,such as mountains,high-rise block and tunnel environment,the GPS signal will fading distinctly,which leads to the degrade of service quality,or even interrupted navigation.GPS/INS integrated navigation system can improve this situation efficiently,but in indoor environment like underground parking lot,the fading of GPS signal would be significantly grown.In this case,the GPS/INS integrated navigation system would degrade to a single INS system.Considered that the error of INS is diverged with time,it is impossible to provide a long-run navigation service.Therefore,the auxiliary indoor road information is introduced,and the INS/GPS integrated navigation system based on the auxiliary information is proposed,which can play a special value in the indoor environment and improve the experience of indoor navigation.Background and progress of navigation development are introduced and analyzed firstly in the paper,while the development trajectory,the technical features and the future trend of the vehicle navigationsegmentation market are analyzed.Secondly,the architecture,working principle and error analysis of GPS and INS navigation system are discussed.Typical coordinate system and frequently used coordinate transformation relegated to the topic are also introduced.Kalman filtering is introduced and elaborated to combining information and reducing estimate error.The working principle of GPS/INS integration navigation system and indoor navigation system are also introduced.The paper analyzed the environment and characteristics of indoor navigation,and chose the indoor road node information as auxiliary information to be fused.Topology model and GIS network model is established while network nodes and reachable matrix are constructed.Appropriate Kalman filter system is build according to the characteristics of the system,and then simulations are made by the software MATLAB,while the validity of the methods is verified.The simulation results show that the proposed novel integrated navigation system can provide high quality navigation services compare with single INS in three typical indoor routes,that is,straight route,fold line route,and staircase route.In the case of stare case route,an improvement of 80% is obtained on location error.In order to verify the effectiveness of the proposed novel integrated navigation system on principle,a hardware navigation system based on u-blox NEO-6M,MPU650 and Arduino is developed,while experiments under both indoor and outdoor environments are conducted.The experimental results show that the proposed integrated navigation system can greatly improve the indoor navigation performance compare with the traditional INS navigation system.At the same time,in the outdoor environment,it can reach the level of GPS/INS integrated navigation and meet the general navigation requirements. |
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