The Research Of GNSS Dual-Antenna/MIMU Integrated Algorithm

Integrated navigation system is usually able to overcome the limitations of a single navigation system.Compared with a single navigation system,it can provide navigation results with higher accuracy and stability.Therefore,it's widely applied to military and civilian fields.The integration of GNSS(Global Navigation Satellite System)/SINS(Strap-down Inertial Navigation System)is common.In this paper,the rotary GNSS dual-antenna/MIMU(MEMSInertial Measurement Unit)integrated navigation technology is researched.Based on different integration methods,that is,loose coupling integration,single mode integration and multimode integration,three rotary GNSS dual-antenna/MIMU integrated navigation systems are designed and implemented.For each solution,this paper explains the hardware system,the navigation algorithm and experiments.The main contents and results of this thesis are as follows:The Kalman-filter for loose coupling integrated navigation algorithm is designed,which uses velocity,position and heading angle as measurement and outputs the optimal navigation parameters.With the implemented system,experiments can be conducted to verify the effectiveness of the algorithm.The results shows that the loose coupling integrated navigation system can output correct velocity and position information,and the accuracy of pitch and roll angles are 0.2°(1?),the accuracy of heading angle is 4°(1?).The rotary BDS(BeiDou Navigation Satellite System)dual-antennal/MIMU integrated navigation algorithm is researched,and navigation computation is implemented on an indigenously developed rotary single mode GNSS dual-antenna/MIMU integrated navigation system.The position,velocity and satellite information are measurements of Kalman-filter,and then the filter outputs optimal estimation of navigation parameters.The experiment result shows that the system has an obvious improvement in attitude measurement compared with the loose coupling integration.The precision of heading angle reaches 1°(1?).The rotary multimode GNSS dual-antenna/MIMU integrated navigation algorithm is researched,and BDS/GPS/MIMU integrated navigation algorithm is conducted on an indigenously developed rotary multimode GNSS dual-antenna/MIMU integrated navigation system.The experiment result shows that the precision of the system is 0.5°(1?).To compare the effectiveness of single mode and multimode integrated navigation algorithm,an experiment is conducted on a boat.In the experiment,multimode GNSS dualantenna/MIMU integrated navigation system performs better than single mode integrated system on the whole.In a sheltered environment,single mode integrated system has insufficient number of observation satellites,while multimode integrated system is able to overcome the shortcoming.The result shows the multimode system's accuracy is 1°(1?),so it is more reliable and stable.The implemented GNSS dual-antenna/MIMU integrated navigation system has broad application prospects.It can be used in UAV(Unmanned Aerial Vehicle),USV(Unmanned Surface Vehicle)and small and medium-sized ships.