SINS Design And Data Processing Technology

Autopilot is an important part of the UAV,and is the core of a UAV autonomous control,With the UAV being used widely both in military use and in civilian use,the research to the technology of the autopilot is of great practical application.The task is design a dedicated autopilot for a small UAV.This paper presents a whole scheme base on dual-DSP and integrated navigation who use GPS integrate with Strap-down Inertial Nabigation System.Based on the hardware platform,we designs software to collect data form sensor and then transfer it from DSP to PC.In the Matlab environment,we analyze the gyro's temperature characteristic, then compensate the temperature error.After that,we create drift model by using the time-serial analysis.Then we decrease this drift error by making use of Kalman filter base on the above error model is expounded. After that ,we complete the attitude solution under the SINS.Because of the accumulation errors caused by the integral operation to the gyro data, long-term results of the attitude is drifting.So , we designs an adaptive complementary filter algorithm,which fuse the dynamic property of the gyro and the low frequency of the accelerometer.With it ,we get attitude of Long-term high precision and quick dynamic response.at last ,through the simulation of experimental data,we proves the validity of the method, and that the results can meet the system requirements.