The Design And Research Of Missile-mounted Integrated Navigation Computer System Based On ARM

The missile-mounted Navigation computer is the missile guidance and the control system's core installment, its performance quality, direct relation precision guidance missile's directly the precision and the target damage probability. Turns towards the multi-sensors and the multi-information fusion direction along with the navigation technology satellite to develop, the missile-mounted Navigation computer also turns towards the miniaturization, the high performance, the redundant reliable direction to develop.Based on the ARM embedded system by its own fruitful in resources, the volume is small, the power loss is low, advantage and so low size, may display the good application condition and the prospect in the missile guidance and the control system application domain. The MIMU/GPS integrated navigation system has overcome the MIMU guidance system's error the shortcoming which accumulates along with the time and the GPS system inherent limitation; And has used MIMU and the GPS respective merit effectively, carries on making up for one's deficiency by learning from others' strong points between system's. This kind of integrated navigation system can reduce the system error effectively, increases the system accuracy, reduces the guidance system cost.This article has mainly done the following several aspect work:first, is presented the MIMU/GPS integrated navigation system and the combined navigation computer's some background knowledge.next, introduced the MIMU guidance system's principle of work and the guidance resolving method; The analytical study MIMU guidance system's characteristic, and is given the MIMU guidance system's mathematical model and the error model. Has analyzed the MIMU/GPS combined navigation technology briefly, has developed the position/speed combination equation of state and the gauging equation and carries on the discretization to it. Had determined composite system's adjustment method, has studied the Kalman filtering algorithm in the MIMU/GPS combined navigation application, developed Kalman filter's design.Once more, has carried on the simulation experiment to the integrated navigation system. developed the MIMU/GPS integrated navigation system's in MATLAB/SIMULINK simulation model, has carried on the simulation to the integrated navigation system, has given the simulated data and the navigation parameter curve of error, and has carried on the analysis to the simulation result.Finally, has designed take the essence S3C2410A chip by ARM920T and Cyclone II Series FPGA is the hardware system core MIMU/GPS integrated navigation system, has given system's software and hardware modular design.