Research On High Precision Integrated Navigation And Positioning Technology Based On GNSS/SINS

With the development of information technology,there are more and more requirements for the accuracy,reliability and high dynamic of navigation and positioning.Consistent with the global navigation satellite System(GNSS)for outdoor positioning,China's Beidou Navigation Satellite System serving the world will be more competitive in2020.However,some constraints of satellite navigation have to be considered in practical applications.The integrated navigation system composed of GNSS and SINS(Strapdown Inertial Navigation System)can not only output high-precision positioning information but also reflect the carrier dynamic information in all directions,so it is widely used in various fields.In the civil field,MEMS inertial sensor is widely used because of its low cost and small size.In view of the complementary advantages of GNSS and SINS,this paper studies the key technologies of GNSS/SINS Integrated Navigation and positioning,and designs and implements a loose integrated navigation system based on MEMS inertial sensor.In view of the complementary advantages of GNSS and SINS,this paper studies the key technologies of GNSS/SINS integrated navigation and positioning,and designs complemented implements a loose integrated navigation system based on MEMS inertial sensor.Firstly,the basic principle of inertial navigation is researched,including common coordinate system and mutual conversion formula of navigation,conversion formula between Euler angle,quaternion,DCM and equivalent rotation vector.This paper deduce the update algorithm of speed,position and attitude of strapdown inertial navigation and mechanical arrangement algorithm based on quaternion are deduced in detail.The basic principle of integrated navigation system is studied,and the data fusion method of integrated navigation system is inferred.Secondly,the error model of the inertial sensor is analyzed.The inertial device is the most important device in the inertial navigation equipment.Its accuracy directly determines the precision of the inertial navigation system.The noise reduction algorithm of the MEMS inertial device is studied.A new noise reduction method is proposed and the actual data is used to verify the noise reduction algorithm.The effect is verified by Allan variance analysis.Then,the GNSS/SINS loose integrated navigation algorithm based on the extended Kalman filter is considered,and the implementation method of the 15 state loose integrated extended Kalman filter is given.On the basis of the above,the hardware platform of the integrated navigation system is built,and STM32 single chip microcomputer,UBLOX M8 N and ADIS16405 are selected as the design scheme of the main devices to study the hardware circuit design and sensor protocol analysis.In order to enhance the intuitiveness and practicability of the system data,a special upper computer software is developed based on C#.Finally,the static and dynamic experiments of the integrated navigation system are carried out.The experimental results are drawn in the map and the data are analyzed in detail,which verifies the stability and high accuracy of the loose integrated navigation system.It has a certain practical significance and engineering value.