Research On CKF Beidou/SINS Tight Coupled Navigation Algorithm

With the rapid development of modern navigation technology,navigation systems are becoming varied.Integrated navigation technology can resolve the problem of lower performance and liability when single navigation system is used.BeiDou Navigation Satellite System(BDS)is developed by our country.It is important for the promotion of BDS with more application and basic studies in BDS.In this paper,the writer researches on the tightly integrated navigation method of BDS/Strapdown Inertial Navigation System(SINS)and Cubature Kalman Filters(CKF)to realize data fusion.Firstly,the paper studies the working principle of SINS,the positioning principle of BDS and the derivation process of error equations.Secondly,the paper designs a BDS/SINS tight integration scheme,in which,CKF is adopted to realize data fusion and algorithm of satellite selection is used to guarantee precision.Meanwhile,the derivation process of the mathematical model of the BDS/SINS tight integration scheme and the principle of CKF are studied in this paper.Thirdly,the paper sets up the BDS/SINS tightly integrated navigation experimental platform with the Micro Inertial Measurement Unit(MIMU)ADIS16405,the BeiDou satellite navigation board CNS200 and PC,a software which collects and translates data from CNS200 is designed.Which can provide data such as position,pseudo-range and pseudo-range rate of a satellite.Fourthly,based on BDS/SINS tightly integrated navigation scheme,a arithmetic simulation program of BDS/SINS tightly integrated navigation is written in MATLAB,including SINS solution program,satellite selection program and data fusion algorithm program.In order to verify the proposed navigation scheme and the program modules,the following experiments are done collecting raw data by CNS200 data collection and interpretation software is used to verify the satellite selection program;ii)static tests and dynamic tests on the turntable are used to verify the SINS solution program;iii)dynamic field experiment is used to verify the function of the tightly integrated navigation scheme in this paper.The experimental results show that applying the CKF algorithm in the BDS/SINS tightly integrated navigation on the basis of satellite selection,not only the divergence problem of inertial navigation system used alone can be improved well,but also navigation parameter of high accuracy can be obtained.The results of this paper provide a theoretic and experimental basis for the subsequent implementation of Beidou /SINS tightly integrated navigation system.