Design And Implementation Of GNSS/INS Integrated Navigation System In Embedded System Platform

At the current outdoor location,there are several location solutions being used,such as:GNSS(Global Navigation Satellite System)location,base station location,geomagnetic location,INS(Inertial Navigation System)location and Wi-Fi location.But at the true environment,all the solutions have their disadvantages.GNSS location has a wide coverage and strong applicability,but the signal and precision would drop when the device is between the skyscraper or under the tunnel.Wi-Fi,geomagnetic and base station location need to set the library firstly,and they can be influenced by the environment easily.The position error of INS would be increased rapidly as the time,for which INS cannot work alone.Therefore,it has been proposed to fuse multiple location solutions as an integrated system to provide the position calculation.What to be used most is GNSS/INS integrated system,which is stable and can provide an accurate position.But at most time,the core algorithm of the integrated system is so complex that there would be a bottleneck of performance at the platform whose computing is limited.This dissertation proposes to add the time divided module in the GNSS/INS system,the aim of which is to divide the complex algorithm into several time slice according to the process of operating system in the embedded device while the integrated system is running.This solution can ensure the integrated navigation algorithm running wholly in the device,at the same time the accuracy of the operation result can fit the requirement.This dissertation introduces the background of the integrated navigation system firstly,investigates the related technology.Then analyzes the requirements of the system on the function and non-function,based on which designs the architecture of the system.After that is the outline design of the communication interface and the function modules division.At the same time,the paper finishes the detailed design of the system and the coding implementation.At last,the test and result analyzing are finished.This dissertation successfully completed the building and testing of the GNSS/INS integrated navigation system,proved the applicability of the algorithm and the system at the true environment.The accuracy of the position also fits the requirement.