Research On Positioning Method Of Integrated Navigation Based On Satellite-INS

Since entering the 5g digital information era,positioning and navigation equipment has become an essential tool for human beings to explore the world since the navigation era,which demand is more and more urgent.GPS global positioning system and Beidou satellite can provide perfect outdoor positioning and navigation services,but they are highly dependent on the external environment.Inertial navigation system is an autonomous navigation system which measures the specific force and angular velocity of the carrier through the inertial system,which is less affected by the environment,but the accumulated error is large.Based on the above factors,this paper adopts satellite navigation integrated navigation,which can learn from each other and get better positioning effect.At present,the tight combination model is usually used to optimize the relationship between the navigation and positioning modules,such as satellite / INS.However,the non inferior solution set of the model can only achieve the optimization of the overall income,but the positioning modules work alone and do not interfere with each other,which can not reflect the interaction between the main modules,resulting in the low efficiency of the positioning scheme.Therefore,this paper adopts the cooperative evolutionary game model to break through the efficiency and fairness dilemma of multi-objective optimization decision-making,realize the optimization of overall benefit on the basis of considering individual rationality,and overcome the problems of low coupling degree of each positioning subject,high calculation pressure and global information demand in the traditional integrated navigation positioning method.In this paper,a cooperative evolution game model of satellite inertial navigation system in complex environment is built to analyze the influence of different environmental factors on the evolution of the system.Different strategies are adopted to improve the quality and speed up the number of navigation data according to the environmental factors by using the evolutionary game method According to the convergence rate,it can achieve the best performance.At the same time,the hardware and software system platform is built to test the performance of the system.This paper focuses on the research of positioning method based on integrated navigation of satellite and INS,and does the following work:(1)This paper studies the current situation of integrated navigation at home and abroad,the principle and algorithm of evolutionary game,improves the evolutionary game model and applies it to the integrated navigation system of satellite inertial navigation,and analyzes the error of integrated navigation;(2)This paper describes the application of evolutionary game method in the integrated navigation system of satellite inertial navigation in detail.Aiming at the problems existing in the integrated navigation system of satellite inertial navigation,it puts forward the design scheme,builds the system model of evolutionary system,and carries out the feasibility analysis of the scheme and the numerical simulation and analysis of the influencing factors in the evolution process;(3)This paper further discusses the software and hardware system platform design of the system.The whole system is divided into four units according to its functions:measurement unit,data processing unit,debugging unit and user unit.In the aspect of hardware,the principle of each module of the system is fully explained,and the relevant circuit interface is designed;in the aspect of software,the functions of data acquisition and solution,data preprocessing,evolution strategy selection,data transmission and debugging,user terminal display are realized.Finally,the actual performance of the system platform is evaluated and three independent experiments are carried out.The experimental results show that the navigation solution method of the system can intelligently adopt different integrated navigation methods according to the changes of the external environment,and make the system output more stable.Once the position and angle errors diverge,they converge rapidly and converge to a stable and open precision range,which can meet and apply to the long-term navigation needs.The work of this paper can be used for reference in the research of integrated navigation.