Research On Airport Vehicle Positioning System Based On GPS/INS

Airport runway safety has always been the core of airport safety.As a means of transporting luggage between aircraft and terminal buildings,luggage tractors have a great impact on aircraft safety when driving on the runway.Moving and positioning the position of the tractor can standardize the operation of the driver and reduce the safety accidents of the tractor.This thesis adopts the integrated navigation method of GPS and inertial navigation system to locate the baggage tractor.First,the overall design of the system is explained and the working principle of GPS and inertial navigation system is studied.It is determined that a combined navigation method combining differential GPS and inertial navigation will be used for positioning.Among them,the GPS is first processed with differential data to improve the positioning accuracy of GPS;the position information calculated by the four-element method of the inertial navigation is combined with the differential GPS data to obtain the optimal estimation value of the position information error through the Kalman filter algorithm,the inertial navigation uses the feedback The returned position error is subjected to error compensation to obtain the precise position coordinates of the tractor,and then the navigation information is sent to the upper computer for position monitoring through the LoRa wireless transmission means.Secondly,the error model and Kalman filter algorithm of GPS/INS integrated navigation system are studied.The main error sources of GPS and INS are analyzed,and the inertial navigation error model is established;the Kalman filter algorithm filtering process is deduced.The difference between the position information of GPS and inertial navigation is used as the input of the filter,and the filter outputs the best estimate of the error.And feedback to the inertial navigation correction,effectively improving the positioning accuracy.Finally,Matlab simulation and simulated field experiments were carried out on the integrated navigation system.By setting the initial parameters of GPS and inertial navigation,the navigation information output by GPS and inertial navigation is simulated,and the simulation data is processed by Kalman filter algorithm.The simulation results show that the Kalman filter can effectively improve the positioning accuracy in the integrated navigation system data fusion,and the maximum positioning error is 0.807m;secondly,the simulated field test of the integrated navigation system is carried out,and the maximum position error of the integrated navigation system is obtained by analyzing the experimental data.1.622m,meets the system design requirements within the accuracy requirements..