Design And Research Of Vehicle Integrated Navigation System Based On Low-cost MEMS

In recent years,with the development of navigation technology,people pay more and more attention to the research of vehicle navigation.The vehicle uses the information such as the distance and direction between the current position and the destination to complete the navigation and positioning.By the navigation system,the driver can avoid traffic jams and traffic accidents via obtaining accurate road condition information.Therefore,vehicle navigation needs to use a high-precision navigation system to obtain accurate navigation information to ensure navigation and positioning.However,in practical navigation applications,high-precision inertial devices are generally expensive and cannot be widely applied to civil vehicles.Therefore,low-cost inertial devices(Micro Electro Mechanical System,MEMS)are considered in this paper.At the same time,an improved filtering algorithm is used to improve the alignment accuracy of the MEMS strapdown inertial navigation system to further realize the navigation and positioning in the vehicle integrated navigation system.The main content includes the following parts:Firstly,this paper analyzes the advantages and disadvantages of vehicle navigation combination modes commonly used in recent years,introduces the performance characteristics of low-cost MEMS devices,and explains the combination of Inertial Navigation System(INS)and Global Positioning System(GPS)Based on the above analysis,the combined navigation method of MEMS-INS/GPS is finally determined.Secondly,it introduces several coordinate systems commonly used in navigation systems,the working principles of INS and GPS,their advantages and disadvantages,and then introduces the advantages of integrated navigation based on MEMS-INS/GPS,and two modes of integrated navigation(loose combination,tight combination)and the advantages and disadvantages of the two combination modes.Furthermore,the techniques and classifications(coarse alignment,fine alignment)of initial alignment in INSs are introduced,and their respective workplaces,advantages and disadvantages are introduced to provide the basis for fine alignment in vehicle navigation systems.Then the mathematical model of the INS/GPS integrated navigation system and an important element to realize the integrated navigation system and initial alignment-Kalman filter algorithm are introduced,Furthermore the adaptive Kalman filter is used to improve the navigation accuracy.At the same time,when the GPS signal loses lock,the non-integrity zero-speed correction technology can be used for navigation and positioning,and the system has higher accuracy.Finally,based on low-cost devices,this paper takes the vehicle-mounted integrated navigation system as the research object,combined with the dynamic constraint information of the vehicle,and studies the vehicle-mounted navigation system.By using the collected data in the compilation of relevant simulation programs,adaptive Kalman filter is used.The filtering algorithm is designed to simulate the initial alignment technology,and the effectiveness is guaranteed although the GPS signal is missing due to the influence of the confined space such as forests,tunnels,and high-rise buildings.The combination of the integrity constraint method and the adaptive Kalman filtering algorithm can effectively improve the navigation accuracy of the integrated navigation in the closed environment.The subject uses low-cost inertial devices to solve the problem of navigation and positioning of civil vehicle navigation system to a certain extent,and provides good thinking for further research on the vehicle navigation.