Research On The Design And Key Technology Of MINS/GPS/GM Integrated Navigation System

Due to the low fault tolerance and poor reliability of single navigation mode and the advantages of MINS in cost,power consumption and integration,integrated navigation based on MINS has become the main research direction of low-cost small-scale navigation system.In this paper,a MINS/GPS/GM integrated navigation scheme is proposed based on the practical application requirements of low-cost small-scale vehicle navigation.The overall experimental platform of integrated navigation system is built,and the basic principle of integrated navigation system and the error characteristics of each subsystem are analyzed,and the key technologies such as initial alignment,data synchronization and data fusion filtering algorithm in integrated navigation are deeply studied.Finally,the experimental results show that the designed integrated navigation system and filtering method can meet the application requirements of vehicle navigation.The main work of this paper is as follows:(1)The overall design and implementation of integrated navigation system.According to the system designed index,the main components of the system are selected,the integrated circuit board of data acquisition,navigation calculation and communication based on ARM architecture is designed and C code is written,and the overall mechanical structure of the system is designed with the help of Solidworks software.In order to facilitate system debugging and real-time data display and storage,the corresponding upper computer is designed.(2)Principle and error analysis compensation of integrated navigation system.The principle and error characteristics of MINS,GPS and GM navigation are analyzed.Calibration compensation for MIMU error and identification of Allan variance random error parameters are carried out.A geomagnetic error compensation scheme based on ellipsoid fitting is designed.The basic principle and typical problems of integrated navigation Kalman filter are introduced.(3)Research on Key Technologies of MINS/GPS/GM integrated navigation system.GM/GPS-assisted MINS initial alignment model is analyzed and deduced,and the initial alignment scheme of MINS/GPS/GM integrated navigation system is designed.The data synchronization problem of integrated navigation system is analyzed,and the data synchronization solution of subsystems based on 1PPS is established.The state error model and observation model of integrated navigation system are analyzed and established,and the integrated navigation information fusion method based on Federated Kalman filter is designed.(4)MINS/GPS/GM integrated navigation system test verification:In order to verify the reliability of the designed integrated navigation system and the validity of filtering algorithm,dynamic test and environmental test were carried out.The results show that,based on CFZ-FOG/GPS integrated system,in the vehicle test,the real-time dynamic indexes of integrated navigation system are:heading mean error no more than1.0~?,attitude mean error no more than0.5~?,speed mean error no more than1.0m/s,position mean error no more than5m.Environmental tests prove the stability and reliability of integrated navigation system in multi-state environment,which indicates that the integrated navigation system meets the requirements of engineering application preliminarily.