| Strapdown inertial navigation system (SINS) is an important trend of inertial technology in recent years. In SINS, physical platform of traditional INS is replaced by mathematical platform. Because of these advantages of SINS, it is on the trend of replacing flat inertial navigation system in many applications. This paper regards a low cost piezoelectricity gyro Strapdown inertial navigation system and its combination with Global position system (GPS) as the target, and does related research works. It offers the solid foundation to the integrated navigation system research.A piezoelectricity gyro and quartz acceleration meter has been carried out the test of static parameters, and the error of Strapdown inertial navigation system has been emulated.This paper has still studied GPS/SINS integrated navigation system. Through the analysis of each subsystem, we have established the error pattern and determined combination pattern, and also designed a centralized Kalman filter. Emulation result shows that the combination can raise systematic precision, especially the precision of location and speed.The paper exploits display procedure of navigation data by Microsoft Communications Control in visual C, and designs serial-port communication procedure between GPS and PC.The paper exploits mini Integrated Navigation System with GPS system and MSP430F149 which have the function of data take-over,data disposal and data display. |
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