The Design And Implementation Of Small Integrated Navigation System Based On SOPC

With the development of MEMS technology, MEMS-SINS has held more and more the navigation market in middling and low precision occasion. However, Due to the limit of itself precision, MEMS inertia sensors can not achieve navigation task independently, and it needs the assistant information of geomagnetic field, longitude, latitude and so on. So the small integrated navigation system, taken the MEMS inertia sensors as the core, combined with magnetic sensor and GPS, is very necessary, and has broad future prospects.Besides, System on a programmable chip (SOPC), as an advanced solution to embedded system, because of its flexibility, customization, and the ability of its cooperative design between software and hardware, has became more and more popular in navigation system. It can help user integrate hardware and design software quickly and effectively.According to the hardware requirements and characteristic of software algorithm of integrated navigation system, the paper constructs the optimalizing SOPC based on controllable double niosⅡcpu. At the same time, realizes the single-float cordic algorithm base on IEEE-754 standard, which can accelerate trigonometric function calculation in algorithm of navigation; and designs UART IP core for receiving GPS message, based on the characteristic of GPS message; according manipulative time sequence of magnetism sensor, designs the MAG IP core for optimizing efficiency of data collection.Finally, using the embedded real time operating systemμC/OSⅡas software platform, the paper designs the attitude calculating algorithm based on MIMU/MAG, as well as Information integration algorithm of MIMU/GPS, and presents the equation of Kalman filter.