The Design And Research Of Micro Integrated Navigation System Based On ARM And DSP

Micro integrated navigation system can make full use of the advantages of navigationsubsystem，compensate for their shortcomings, and expand the application range of integratednavigation system and it is the hot spot of current navigation technology research.At present,the Miniature integrated navigation system use micro inertial sensor which is based onMEMS technology as the core, with GPS satellite navigation system as the assistant. This pa-per is Based on the outdoor robot navigation orientation application background, and Minia-ture integrated navigation system based on DSP and ARM was designed.In order to maintain the continuity of the theory, This paper first analyzes the principle ofinertial navigation, Quaternions strapdown decoding algorithm, GPS satellite navigation prin-ciple, The navigation system error model are established by testing. According to the resultsof the simulation modeling error analysis. according to the minimum variance estimation de-duce the kalman filter, The problem about the application of kalman filter is raised whichshould be paid attention. According to basic principle of kalman filter, According to thebayesian estimation, concrete plan is proposed about the application, of the particle filter forintegrated navigation system. state equation and observed equation of integrated navigationsystem are established, According to the kalman filter and the particle filter model.In order to establish the integrated navigation system simulation, A track generator is de-signed by the MATLAB software, Used to simulate the real integrated navigation parameters,According to the model of the integrated navigation and simulation parameters, Extendedkalman filtering (EKF), no trace kalman filter (UKF), the particle filter algorithm (PF) wassimulated, According to the simulation results, PF filtering precision is highest but operationlongest and make the system can not meet the real-time demand, UKF filtering precision canmeet the system demand, its Operation time is close to EKF, EKF filtering precision is min-imum.Finally, according to the trend of the development of navigation computer, navigationcomputer was Designed based on DSP and the double ARM CPU structure, Miniature com-bined navigation system of hardware and software development is completed based on distri-buted Modular design scheme, Design is completed Based on Quaternions strapdown decod-ing algorithm and UKF filtering algorithm In data processing module, In order to be able tobetter observation system dynamic process, The man-machine interface design was com- pleted, In the onboard computer, by the final testing, usability of the Miniature integrated na-vigation system is proved in this paper, Lay a good foundation for outdoor robot navigation.