Design And Implementation Of Simulation Platform For Multi-source Fusion Navigation System

With the wide application of navigation and positioning technology in current social life,people put forward higher requirements for real-time and accuracy of navigation and positioning system.Multi-source fusion navigation system has attracted more and more researchers' attention due to the diversity of data sources and the accuracy of service provision.In practical applications,multi-source fusion navigation system can not only fuse multi-source heterogeneous information data,improve system redundancy and system performance,but also integrate the advantages and disadvantages of different information sources to ensure the integrity of information.However,the current multisource fusion navigation system is often faced with problems such as information source conflict and information fusion redundancy,resulting in a large room for improvement in the quality of final positioning,navigation and timing services.Based on the above reasons based on the in-depth study of the related technologies of multi-source fusion navigation system,this thesis designs and implements the simulation platform of multi-source fusion navigation system.The main research contents of this thesis are as follows:(1)This thesis designs the architecture of multi-source integrated navigation system simulation platform.Based on the analysis of the problems existing in the current integrated navigation technology,the requirements of the simulation platform are deeply analyzed.The overall function design of the multi-source integrated navigation simulation platform is completed and the detailed functions of each sub-module are analyzed in this thesis.(2)This thesis analyzes the common navigation and positioning system,studies the multi-source fusion technology and fusion navigation algorithm,and improves the fusion algorithm library.Based on the analysis of the related principles and error sources of various navigation systems,the corresponding mathematical models and error models are established.At the same time,this thesis studies three common fusion navigation algorithms: INS/GNSS,INS/CNS,INS/GNSS/Visual navigation,and improves the common built-in algorithms in the fusion algorithm library.(3)This thesis proposes two fusion algorithms based on neural network.In order to solve the problem of large positioning error of single inertial navigation system caused by GNSS signal unlock,this thesis proposes an INS/GNSS integrated navigation algorithm based on neural network.In addition,this thesis proposes an improved INS/GNSS/Visual carrier information fusion positioning method based on IMM and RNN,and simulates,compares and analyzes the two fusion navigation algorithms to verify the feasibility and effectiveness of the method.(4)This thesis implements a configurable,reconfigurable and easy-to-reproduce multi-source integrated navigation system simulation platform,and complete functional testing and performance testing of the simulation platform.The results of simulation analysis and example verification show that compared with the current navigation system platform,the multi-source fusion navigation system simulation platform proposed in this thesis has been greatly improved in terms of inter-module coupling,scalability and fault tolerance.