基于ARM和DSP的组合导航系统设计

Design of Integrated Navigation System Based on ARM and DSP

设计并实现了基于ARM和DSP的SINS/GPS组合导航系统;该系统采用DSP作为导航解算计算机,完成导航数据的快速的融合与解算处理;采用ARM处理器作为上位机,完成导航系统的数据存储、显示与输入输出接口控制等功能;重点完成了光纤陀螺和加速度计的高精度数据采集以及ARM与DSP之间的通信接口的设计,并根据系统的硬件配置,设计并实现了组合导航系统的卡尔曼滤波器;最后进行了车载试验,试验数据分析结果表明该组合导航系统可以获得理想的导航精度,验证了导航系统软、硬件设计的正确性和可靠性。

Integrated SINS/GPS navigation system based on ARM and DSP was designed and implemented. The system adopts DSP as navigation computer to complete rapid fusion and calculation of navigation data and ARM CPU as upper level computer to corn plete the functions such as data storage, display and interface controller etc. The design was emphasized on highly accurate data acquisition of FOG and accelerometer as well as interface design between ARM and DSP. According to system hardware scheme, Kalman filter for integrated navigation was finished. Finally, field-test results show that this system can satisfy navigation precision and validate the correctness and reliability of hardware and software design.