Research On The Constellation GNSS/SINS Tightly Coupled Integrated Navigation System

In the modern military and civil field,the demands for stability and precision of the navigation and the positioning are higher and higher.The satellite navigation system represented by GPS and the strap-down inertial navigation system are highly complementary in performance.As a result,the overall performance of the integrated navigation system is much better than that of the individual system.The BD-2 satellite navigation system had been initially built in China,GNSS receiver which is a comprehensive utilization of BD,GPS and GLONASS had been applied in engineering.How to make a combination of multi satellite system and strap-down inertial navigation system and improve the accuracy and reliability of the navigation system has become a hot spot of research.The research and design of software and hardware of multi constellation GNSS/SINS integrated navigation system is studied in this paper and the thesis had mainly done the following work.The thesis analyzed the common coordinate frames and the conversion relation between them.At the same time,by comparing and analyzing the advantages and disadvantages of the existing navigation system,the overall design of the integrated multi constellation GNSS/SINS is confirmed and the hardware of integrated GNSS/SINS navigation system based on FPGA+DSP and the data fusion software scheme based on tight coupling model and extended Kalman filtering method are designed.The thesis designed and built the hardware platform of the integrated navigation system,including multi constellation receiver module,inertial gyro and acceleration module,FPGA and DSP master control module,data storage module and power module.Multi constellation integrated navigation model based on GNSS/SINS established the state equation and observation equation of different coupling modes and used the extended Kalman filter for data fusion navigation system.On the basis of that,the flow chart of the software of integrated navigation system is designed in the thesis.The experimental verification was implemented in a more complex campus environment.The result shows that the combined navigation system has high precision in the case of high building and trees.Multi constellation GNSS/SINS integrated navigation system achieves a variety of functions of the integrated navigation system.With the advantages of good stability and accurate positioning,it has promising application value.