Research on GPS/MIMU/DM Intergrated System to Vehicle Navigation |
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Author | ZhangZaiYong |
Tutor | LiBin;ChaiYi |
School | Chongqing University |
Course | Navigation,Guidance and Control |
Keywords | Vehicle Location and Navigation Global Positioning System (GPS) Micro Inertial Measurement Unit (MIMU) Map matching The GPS / MIMU integrated navigation Kalman filter |
CLC | U463.6 |
Type | Master's thesis |
Year | 2005 |
Downloads | 429 |
Quotes | 4 |
In recent years, with the rapid development of science and technology in recent years, the vehicle navigation system has been more widely used. How the positioning information as accurately as possible under the condition that the vehicle is traveling, how to become a crucial issue for the development of the application of a low-cost vehicle navigation system. GPS (Global Positioning System), inertial navigation (Inertial Navigation System) are two important technologies in the field of vehicle navigation. SA policy developed for GPS, the United States reduced the general civil satellite positioning accuracy (single point positioning accuracy of 25m-30m) GPS itself has canyon effect, the receiver often because they can not lock the satellite signal, loss of positioning capabilities GPS positioning, which simply difficult to obtain satisfactory positioning. The inertial navigation system, INS (Inertial Navigation System), the autonomous navigation system is based on the inertial sensor, which is generally by the inertial measurement unit IMU (Inertial Measurement Unit), the computer, control, display, etc.. The key is the inertial measurement unit, its accuracy determines the accuracy of the navigation system. Inertial navigation using inertial sensors measuring the acceleration of the movement, was calculated to determine the position of the vehicle, to achieve the self-positioning of the vehicle, but the inertial element drift error and calibration error will be accumulated error gradually accumulated over time, eventually reached unbearable levels, and precision INS system is expensive, difficult to get in the car navigation system promotion. The inertial technology development: Solid State transfer from traditional mechanical inertia devices and further to the development of the semiconductor silicon based material silicon micro inertial devices has become the general trend of the future development of inertial technology. Based the MEMS technology MIMU and GPS integrated navigation system combines GPS high-precision positioning, error-free accumulation and INS autonomy, real-time, etc., so the decline in the cost of the navigation system, increase reliability, accuracy is improved . In order to achieve a continuous, real-time vehicle navigation, this article focuses on the GPS and MIMU (the micro inertial navigation measurements combination unit) integrated navigation system, designed to achieve a comprehensive vehicle-mounted the GPS / MIMU combination navigation system optimal Kalman filter, and gives filtering algorithm, theoretical analysis and computer simulation results show that the application of the Kalman filter car GPS / of MIMU integrated navigation system can greatly improve the positioning accuracy and fault tolerance for the vehicle to get near error positioning results, this paper analyzes vehicle navigation digital map coding, design map matching method and system based on probability and statistics.