基于DSP的小型化组合导航系统设计

Design of DSP-based Miniaturization Integrated Navigation System

针对微型飞行器导航系统小型化的需要,设计了基于DSP的组合导航系统。系统采用微惯性测量装置(MIMU)作为惯性导航部分,以DSP芯片TMS320F2812为核心处理器,对陀螺及加速度计的数据进行采集、处理,得到飞行器的姿态、位置等导航参数;并运用卡尔曼滤波实现MIMU与GPS的组合导航,得到精度较高的实时数据。该系统具有结构简单、体积小、功耗低的特点,通过软硬件设计及实验验证,所得导航数据可以满足实时性要求,可靠性较高。

This paper introduced the design of a DSP-based integrated navigation system for the miniaturization of the MAV’s navigation system. It adopted a MIMU to be an inertial navigation system and used a DSP chip-TMS320F2812 as a core processor. And it getted navigation parameters of MAV by collecting the navigation datas of gyroscopes and accelerations and processing the datas. It also used Kalman filtering to realize the integrated navigation of a MIMU and a GPS and obtained real-time data of higher accuracy. This system has the characteristics of simple structure, smaller size and lower power consumption. It has been proved to be reliable and suffice for the navigation task.