Research Of GFSINS Navigation Computer System Based On PC/104 Bus

The Gyroscope Free Strapdown Inertial Navigation System(GFSINS) is a kind of SINS with only accelerometers. Because of gyroscope-free, a series of difficulties, caused by the narrow dynamic operating range of gyroscopes, can be avoided. Compared with SINS, GFSINS has the characteristics of low cost, low power consumption, fast response, and so on. Therefore, experts and scholars at home and abroad pay more attention to GFSINS. In this paper, the focus of the study aims to verify the theory of GFSINS by providing a experiment platform.In this paper, the output formulas of accelerometers in GFSINS were derived, and the feasibility of GFSINS in theory was proved. Based on the theory, the following aspects of work have been done.1. It was done to analyse the characteristics of the navigation computer of GFSINS. The disadvantages of conventional navigation computer were pointed out. And the design scheme of navigation computer with 2 CPUs for GFSINS was proposed.2. The hardware architecture of GFSINS was designed and implemented, including the configuration of the accelerometers, the design of structure, the data acquisition module, the communication between dual CPU, and the UART expansion etc.3. The system software, including MCU software and PC/104 software, was programmed. And it made the dual CPU run well. For the purpose of high performance, the navigation computer system was improved furtherly.The test results indicated that the navigation computer was equipped with high precision and high stability. It laid a foundation for the research work of GFSINS.