Research On BDS/INS Tightly Integrated Navigation System

Global Navigation Satellite System(GNSS)and Inertial Navigation System(INS)are currently two major navigation and positioning systems.They have good information complementarity and are recognized as the best form of integrated navigation.Therefore,the BDS/INS integrated navigation system has excellent performance through deep information.Fusion technology can further improve the accuracy and reliability of the integrated navigation system.This paper analyzed and studied the BDS/INS integrated navigation system method and integrated navigation data fusion technology.The main researches are Beidou satellite navigation and the loose combination and tight combination algorithm of inertial system.Firstly,this paper briefly summarizes the current status of GNSS/INS navigation at home and abroad.Then it studies the inertial navigation system,introduces the common coordinate system of SINS and the working principle of SINS,from attitude,speed and Based on the position differential equations,a quaternion-based strapdown inertial navigation algorithm is given and derived.The common error sources affecting the inertial navigation system are analyzed,and the complete angular error equations and inertial instrument error equations are deduced,providing a basic model for the integrated navigation state equation.Secondly,the Beidou satellite navigation system is briefly introduced,focusing on the satellite orbit calculation method,how the pseudorange and pseudorange rate in the Beidou are generated,and how to use the pseudorange and pseudorange rate to perform positioning and velocity measurement.The common error items and corresponding correction methods of Beidou satellite navigation are analyzed,and the models of ionospheric delay and tropospheric delay are given.Then,the focus of this dissertation is the detailed study of the loose combination and compact combination algorithm in BDS/INS integrated navigation.Firstly,the general Kalman filter and the extended Kalman filter algorithm are briefly analyzed.Based on the error equations deduced in the previous two chapters,the state transfer equations and measurement equations for loose combination and tightly integrated navigation algorithms are given.The static simulation of the integrated navigation algorithm was performed by MATLAB,and the simulation results were compared and analyzed.Finally,introduced the navigation data of the sports car and calculated it by the compiled navigation algorithm,and the settlement results are compared and analyzed and summarizes and looks forward to the full-text work.