The Design And Software Implementation Of SINS/GPS Integrated Navigation System Based On Double DSP

"The research and implementation on SINS/GPS integrated navigation system of fiber optic gyroscope based on Double DSP" is the pre-research modified project based on the pre-research work of "Low Cost SINS/GPS Integrated Navigation Technology’ during tenth five years plan. System design, software development and engineering application of this integrated navigation system are researched thoroughly in the paper. The paper improves the system design insufficiency of principle prototype in the pre-research work during tenth five years plan, accomplishes and optimizes the system software design based on double digital signal processors, and then perfects this set of systematic fault-tolerant performance combining with actual problems in the engineering application.The paper firstly expounds the fundamental theory of the strap down inertial navigation system and the integrated navigation system, and then introduces the navigation algorithm applied on this work.Secondly the paper carries out the concrete research on the key point, which is the system design and the software design realization based on the double DSP. The paper proposes the system design thinking based on the double DSP. illustrates the master design from the perspective of engineering application, and briefly introduces the hardware design. The paper launches the concrete research to this system software design realization in the foundation of the system design and the hardware design. Taking the major constitution module as the division, the paper presents the software overall framework, explains the detailed design of system control managing software, strap down software, integrated navigation software and display-control software, and then produces the software realization of interrupt design, synchronization design and interface design combining with engineering application. The paper also summarizes these problems in project application aspect occurred in the process of system design and system test.Finally the reliability of system design and navigation software and the accuracy of navigation algorithm are validated by the integrated test of hardware and software and the vehicle experiment. The paper gives the graph of experiment result and analyzes the precision of inertial navigation system and integrated navigation system, and then confirms this system to achieve the anticipated effect. At present, the development of engineering prototype has been accomplished. This work will establish the firm foundation to enhance and perfect the development of second generation of integrated navigation system.