The Design Of Integrated Navigation System Based On GPS And SINS

As economic and technological development, in the civilian flieds, the development of modern transport brings on a huge market demand of vehicle navigation devices. In the military, the great-depth, high-speed and multi-joint and combined arms operations of modern high-tech local wars also require the ground weapons of all units having navigation capabilities in order to cooperate with other units. Integrated navigation system, which is based on Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS), has a promising market prospects on vehicle navigation and positioning flied. In this paper, a GPS/SINS integrated navigation system has been proposed and studied, which is easy project achieved, low-cost and has medium accuracy. With the existing conditions of the laboratory, the system's hardware and software have been realized.This paper respectively describes SINS, GPS and GPS/SINS integrated navigation's basic principles, and discusses the difference of two combination models and their advantages and disadvantages of each other. The paper describes the NMEA 0183 protocol format and GPS location information analysis method. Then, on this basis, combined with theoretical knowledge of the Kalman filter, an algorithm of federal Kalman filter for the system has been designed, and simulated in MATLAB software to verify the feasibility and effectivenes of the algorithm. The main job of this paper is to design and implement GPS/SINS integrated navigation system's embedded hardware and software. Hardware systems used HCM-PV6810 industrial control computer, which meets the PC104 industrial bus standard, as the core of integrated navigation hardware system. There have been designed power circuit and multi-circuit connectors, developed the SINS data acquisition and processing module based on the LPC2103 ARM processor.And designed the module's power supply circuit, crystal Oscillators, IIC circuit, AD converter circuit, JTAG debug interface circuit and UART circuit. Software system used Microsoft's Windows CE 6.0 embedded operating system as the core, customed Windows CE 6.0 embedded operating system's BSP and start loading system based on HCM-PV6810 hardware platform. There are customed and compiled a Windows CE 6.0 operating system image and downloaded to the hardware platform, designed the graphical user interface, serial communication program and the program to analyse the GPS positioning information. Finally, the hardware of the integrated navigation system has been debuged and the SINS data acquisition and processing module has been tested.In summary, based on study the basis of the concept, this paper designed a vehicle navigation systems based on the GPS/SINS integrated navigation and proved the theory's effectiveness and feasibility, and designed of the integrated navigation's software and hardware system, basically meeting the design expected, and has good practicability.