车联网卫星微惯性组合导航定位系统研究-检测技术与自动化装置专业论文 word格式.docx

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车联网卫星微惯性组合导航定位系统研究-检测技术与自动化装置专业论文 word格式.docx

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车联网卫星微惯性组合导航定位系统研究-检测技术与自动化装置专业论文 word格式

ABSTRACTVehiclenetworkingasanimportantapplicationdirectionoftheInternetofThings(IOT),itistheproductofsocio-economicandindustrializationprocessdevelopment,butalsoanimportantsymbolofthecarintotheeraofintelligent.Insomeautomobileindustrydevelopedcountries,forinstanceEuropeandtheUnitedStatesandJapan,etc.Vehiclenetworkingtechnologyhasdevelopedrapidlyinrecentyears,thedemandforVehiclenetworkingtechnologyofdomesticisalsogrowingstrongly.Atfirst,thevehiclenetworkingjustinordertosolvetheseriousurbantrafficproblemsbroughtbytheincreasingvehicle,butwiththedevelopmentofthevehiclenetworkingtechnology,ithasbeenusedinanti-theftalarm,energyconservation,medicalassistanceandvehiclescheduling,etc.VehicleNavigationSystemisthecoreandfundamentaloftheentirevehiclenetworksystem,withtheincreaseofthistechnologyapplicationineachaspect,itsoriginalGPSnavigationsystemhighlightsthevariousdeficiencies.Forexampleitcouldnotprovidevehicleattitudeinformation,inthecitybuildingsandtunnelenvironmenteasilyloststarunabletolocateandsusceptibletointerference,etc.Indesperateneedofanupgradeproductappeartomakeupforthemarketblankandinsufficiency.AimingattheinsufficientofexistingVehiclenetworkingGPSnavigationsystem,researchthedevelopmenttrendofexistingnavigationfield,theauthorpresentsasetofsmallchipssatellite/microinertialintegratednavigationpositioningsystembasedonMEMSinertialdevice.First,throughin-depthresearchoftheexistingVehiclenetworkingGPSsatellitepositioningsystemtheory,analysisVehicleGPSnavigationandpositioningsystemfaultsanderrorsources.Thendetailedderivationthestrapdowninertialnavigationsystemmathematicalmodelanderrormodel,anddiscussedthecharacteristicsofMEMSgyroscopezerooffsetbytheinfluenceofthetemperatureandputsforwardakindoflargetemperaturedifferenceapplicationenvironmentofcompensationmodel.Thendiscussestheadvantagesanddisadvantagesofloosecombination,tightcombinationandsupertightcombinationmodelforGPSandSINSsystem,establishedstateequationandmeasurementequationofGPS/INSnavigationsystembasedonloosecombina