Design For Integrated Navigation System Based On MEMS SINS And Magnetometer

MEMS inertial sensor has made great progress under the requirement of automobile industry in recent years. Compared with the mechanical gyroscope, the MEMS gyroscope has advantages such as low cost, small volume and light weight. But due to the error accumulation of SINS navigation, it must be integrated with other sensor to navigate. In view of the aforementioned problems, this paper designs an integrated navigation based on Micro Inertial Measurement Unit and magnetometer. Experiment achieved the expected results.Firstly, this paper introduces MEMS gyroscope, MEMS accelerometer, magnetometer and the basic principle, then based on sensor requirement of the integrated navigation system. sensors are choosed and calibrated.Secondly, the basic theory of SINS navigation, the main methods for attitude matrix updating (including fourth-order Runge-Kutta method and the three-like equivalent rotation vector) and the method for accelerometers and magnetometers integrated attitude determination are studied. And on this basis, Kalman filter that amend SINS navigation error accumulation has been designed.Thirdly, based on integrated navigation system on hardware requirements, this paper designs the hardware program that uses two DSP as MCU and dual-port RAM memory as shared communicating memory. The module of data acquisition and communication based on TMS320F2407, the module of integrated navigation calculating based on TMS320VC33 have been designed, and the method based on dual-port RAM makes the communication between modules quick and credible.Finally, considering high real-time of the data acquisition and communication module, readability and extensibility of the integrated navigation calculating module, this paper designs two parts program code of the navigation system.Research proves that strapdown inertial and magnetometer integrated navigation can effectively restrain the drift, greatly improve navigation system performance.