| In recent years,China has been stepping up the research and development of Beidou satellite navigation system,and completed Beidou-3 navigation system in July 2020,bringing another excellent navigation system for global users.However,in the face of complex situation,the performance of single navigation system is often unsatisfactory,so integrated navigation technology emerges as the times require.The most representative integrated navigation system can realize the complementary advantages of different navigation systems,and meets the performance requirements of navigation services to a large extent.Recently,the application of Beidou navigation system in integrated navigation has become a research highlights.This dissertation starts with the critical technology of BDS and SINS.Then,the positioning principle,filtering algorithm improvement,error analysis and other key points in integrated navigation are studied in detail.Finally,a set of integrated navigation system based on MFC is designed and completed.The main tasks are as follows:1)The subsystem BDS and SINS in integrated navigation are studied.Firstly,the basic theories of BDS and SINS are briefly summarized,such as coordinate system,working principle and system composition.Then,in-depth study is carried out.Based on the differential equation,the INS update algorithm is derived,and the initial alignment model is established;The BDS research is based on the pseudo range positioning principle,focusing on the acquisition of pseudo range measurement value and positioning solution process.Finally,the common error terms of the two are modeled and analyzed.2)In order to solve the problem of noise model change and divergence of traditional Kalman Filter algorithm,an Adaptive Unscented Kalman Filter(AUKF)algorithm is proposed.This algorithm combines adaptive fading algorithm and Unscented Kalman Filter algorithm to improve the adjustment process of filter gain matrix.When the noise model changes suddenly,the whole system is stabilized by adjusting the adaptive matrix.The simulation results of MATLAB show that the improved algorithm is more accurate than the traditional filtering algorithm in strong nonlinear system.3)A set of BDS/SINS integrated navigation system based on MFC is designed and completed.The system is simulated in the information processing level,and completes the inversion of inertial navigation device measurement value and satellite navigation signal through the carrier motion trajectory,the data frame required for system positioning is obtained.Finally,the system positioning function under simulation conditions is realized.After testing,the integrated navigation system meets the requirements of performance and function. |
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