Design And Experiment Of Microminiature Integrated Navigation System

With the development of aviation, spaceflight and maritime applications, system performance requirement is more demanding. Navigation system based solely on one source can't meet the requirements such as low cost, miniaturization, low power, high reliability or real-time navigation capacity. The integrated navigation system is one of the most popular solutions. In this paper, a strategy of an SINS/GPS/MC integrated navigation system is presented based on kalman filtering theory and DSP. The design and realization of the hardware and software of the embedded SINS/GPS/MC microminiaturize integrated navigation system are also introduced in detail.Firstly, a brief review of the development and characteristics of integrated navigation systems is given. The principles, error models and characteristics of different navigation systems, including Strap-down Inertial Navigation System(SINS), Global Positioning System(GPS) and Magnetic Compass(MC), are also introduced. Then the realization of SINS system is discussed. In order to improve the precision of SINS system, an error model is established for constant errors, scale factor errors and installation errors of the inertial sensors. The parameters are also calibrated by empirical data.Secondly, information fusion technology of integrated navigation system is studied systematically. After the analysis of different integrated patterns, the position/velocity/attitude-based integrated pattern is discussed. The detailed design of Centralized Kalman Filter (CFK) and Unscented Kalman Filter (UKF) is introduced,followed by the design of feedback part of the integrated system, which not only modified the position,velocity and attitude, but also design a method to modify the quaternion.Thirdly, the scheme of an embedded SINS/GPS/MC integrated navigation system based on DSP is presented to achieve the requirements of low cost, miniature, low power and high reliability. The details of the design and realization of the hardware and software are also expounded.Finally, a series of experiments are carried out in order to analyze the effect of the compensation of SINS and to test the performance of the presented navigation systems respectively. The results show that the navigation errors are decreased dramatically after the compensation of the errors in SINS. Meanwhile, the performances of the two kalman-filter based integrated systems increased by a large margin comparing to each single navigation systems.