Design Of GPS/SINS Embedded Experimental Platform

The research are deepening with the extensive of GPS and SINS, there are a number ofimplementations and excellent algorithm at home and abroad. Though there are some devicesto assist these algorithms’ practical engineering test and verification, but because of thecomplexity of building system and the high cost of some equipment, such as signal simulators,high precision navigation and positioning device, most of the algorithm program is still at thetheoretical and simulation stage.The project is to design a and multi-function GPS/SINS embedded experimentalplatform, choosing high-performance FPGA and DSP devices to compose the dual-CPUhardware architecture, and soft platform contains GPS software receiver and SINS basedalgorithm. By carrying out laboratory, verify the platform’s software and hardwareperformance.The main contents are as follows:(1) Design and implementation the hardware platform. Select FPGA+DSP dual-CPUarchitecture program, through the comparative analysis of the popular microprocessor’scharacteristics and performance. Complete circuit program design, which contains control andpre-processing module, data solver module, and main auxiliary module. Finally, develop asuccessful hardware platform by reasonable PCB layout, and meticulous and orderlysoldering and debugging work.(2) Design and implementation the software platform. Focus on researching of workingprinciple and important algorithm of SINS. Select the analytic coarse alignment program andfine alignment program based on Kalman filter. Use the classical quaternion theory to updatethe attitude matrix. Combined with the existing GPS software receiver, a basic softwareplatform is completed.(3) Carry out static testing experiments on the experimental platform in the laboratoryenvironment. Collect GPS intermediate frequency data and SINS raw data, and prove thetruth and validity of data by testing and analysis. Carry out GPS static positioning experiment,which is better than10m. Test SINS basic algorithm by simulation, proving the correctness ofthe algorithm selection and design.Laboratory tests and practical application show that the embedded experimental platformcan replace the existing navigation platform scheme, which is only applicable to particularnavigation system. This platform not only can be used in real-time and field performancetesting for satellite navigation and inertial navigation algorithm, but also provide the software and hardware platform support for the cutting-edge exploration of GPS/SINS practicalcombination algorithm. It has a wide range of engineering value.