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Research on Vehicle-Borne Integrated Navigation System in Complex Environment

Author: LiBing
Tutor: ZhanXingQun
School: Shanghai Jiaotong University
Course: Aerospace engineering
Keywords: GPS/INS odometer kalman filter Non-holonomic constrains
CLC: TN967.2
Type: Master's thesis
Year: 2012
Downloads: 125
Quote: 0
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Abstract


Global Positioning System (GPS) provides the high accuracy of positioningoutput under normal environment, but the GPS receiver can’t work well when thesignal is attenuated under the complex environment. The Strapdown InertialNavigation System (SINS) has the advantage of being independent of externalelectromagnetic signals, and it can operate in any environment. But the SINS systemsuffers from time-dependent error growth which causes a drift in the solution for thework principle. The integration of GPS and SINS can overcome the defects of SINSor GPS standalone systems, and benefits from the complementary characteristics ofthe two systems. When the GPS signal is outage, the SINS can work alone till theGPS signal is gotten back to provide the continuous positioning output.Based on a detailed analysis of the SINS and the GPS, the crucial technologyof GPS/INS Integrated Navigation and INS/OD Integrated Navigation is discussed indetail. The simulation on computer and car experiment have been performed to verifyThe loose integration algorithm in GPS/INS Integrated Navigation System; and Thesimulation on computer and car experiment have been performed to verify The looseintegration algorithm in OD/INS Integrated Navigation System. In the context ofengineering, a loose GPS/INS integration scheme is implemented based on MEMSIMU, and the non-holonomic constraints for land vehicle applications is introduced tokeep the position accuracy within bounds when the GPS is not available. The result ofthe field test demonstrated the validity of the system.

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CLC: > Industrial Technology > Radio electronics, telecommunications technology > Radio navigation > Navigation systems of the various institutional > Complex navigation systems
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