Design Of Experimental System For INS/Gravity Matching&Integrated Navigation

In the field of modern navigation, in order to guarantee the concealment of thesubmersibles, passive navigation has become the development trend of the submersiblesnavigation especially for submarines navigation. Gravity Aided Positioning(GAP) technology,as a navigation technology which is committed to study by most of the world’s militarypowers, has the characteristics of fully independent and passive, and has become the researchfocus in the passive navigation field. Using the conbination of inertial navigation and GAPtechnology can fully meets the requirements of navigation system of underwater vehicles.INS/Gravity integrated navigation system has so complicated technologies and large numbersof modules that can be practically applied after repeated experiments. Therefore, researchershave brought up a variety of authentication schemes and developed various types ofexperimental platform.According to the functional requirements of the INS/Gravity integrated positioningtechnology, an experimental system for INS/Gravity matching&integrated navigation basedon the embedded platform is developed. Finally, based on the analysis of the characteristics ofthe INS/Gravity integrated positioning technology, the hareware and software design isaccomplished.Navigation computer is based on the PMP board made by Shengbo Company,and thehost is connected with expansion circuits by PC104PLUS bus. In this paper, the scaematics ofexpansion circuits are designed and programs are written to accomplish the real timecommunication between the expansion card and the GPS system, INS, and the gravitymeter.Applications of experimental system are developed by real-time operating systemVxWorks.The applications can collect datas of gravity aided navigation algorithm interface,run gravity aided navigation algorithm and design friendly interaction by the Tilcon software,update the navigation information, display the track of vehicle,record experimental data, enterparameter and so on. According to the development process of PCI device driver, the PCIdriver is designed.To accomplish the experiment by the experimental system for INS/Gravitymatching&integrated navigation, the thesis use the ICCP algorithm to verify the precision ofthe algorithm and the rationality of the system.