The Research And Implementaion Of SINS/GPS Integrated Navigation System Based On FOG

The Strapdown Inertial Navigation technology has become the researching hotspot since recent years, because of precision improved and having been put into practical application, the FOG makes the researching on the The Strapdown Inertial Navigation technology full of energy. The advantages of The FOG Strapdown Inertial Navigation system rest with two aspects: one is that FOG is going to replace the mechanical gyroscope ,another is that mathematical platform will replace the physical platform. Because of having a series of advantages , The Strapdown Inertial Navigation system will replace the Platform Inertial Navigation system, and have become the main trend of the developing strapdown system.This paper uses FOG Strapdown system and the GPS as the integrated unit to constitute a SINS/GPS Integrated Navigation system , and do some researching work on the following, so settle the base for researching prototype machine.First ,this paper introduces the FOG principium briefly, then discuss the principle of strapdown inertial navigation system particularly. This paper uses the quaternion as updating arithmetic which is in common use in strapdown system, probes into the process of the strapdown navigation arithmetic, and analyses the error fountain of system, and then ,provides the flow char of the arithmetic,after that discusses the principle of GPS.This paper selectes the position and velocity integrated mode, and designes the Kalman filter.This integrated system can improve the navigation precision, especially the position and the velocity.This paper mainly discusses the designing scheme and the realization method of the information processing board—the data collecting and processing centrum in the system,including hardware and software. Hardware mostly includes data collection circuits of gyroscopes , accelerometers and temperature ,the communication interface circuit and the user program boot loader circuit.The software includes communication interface software , boot loader software, the...