摘要
为提高导航设备的适装性,设计了一个基于DSP-ARM的低成本MEMS IMU/GNSS组合导航系统,系统采用ARM芯片对惯性测量单元和卫星接收机模块进行原始数据采集和器件配置,并实现原始数据解码和打包发送给DSP,DSP芯片接收ARM发送的打包数据,进行组合导航解算,并将原始数据与导航数据输出。介绍了组合导航系统的组成结构,给出了硬件系统和软件系统的设计,采用初始对准、惯导解算和组合导航算法,并对算法进行了仿真分析和跑车试验,试验结果表明,设计的组合导航系统的位置误差为10m以内,速度误差为0.1m/s以内,航向误差为2°以内。
In order to improve the fit of the navigation equipment,a low-cost MEMS IMU/GNSS integrated navigation system based on DSP-ARM is designed.The system uses ARM for configing IMU and GNSS module and raw data acquisition,and decoding the raw data and packaging the data to send to DSP.DSP uses the packed data for navigation calculation and outputs the raw data together with navigation result.The architecture of the integrated navigation system is introduced in details.The design of system hardware and software are discussed.The inertial alignment,INS calculation and integrated navigation algorithms used are also presented in this paper.The results of simulation and run-in test show that the designed integrated navigation system has the performance of position error10m,speed error0.1m/s and yaw error2°.
出处
《光学与光电技术》
2016年第4期72-77,共6页
Optics & Optoelectronic Technology
基金
总装基金(9140A01060112JW05017)资助项目
