| Due to the people to the requirements of the navigation computer is always in smallvolume,low power consumption, high performance in the direction of development,promptedthe autonomy, small volume, light quality, low price, and the advantages of the MEMSinertial device of rapid development,but because of its shortcomings, namely erroraccumulation over time, make its can’t alone long navigation task,therefore,the navigationtask based on MEMS inertial device of inertial navigation system, aided by other such as GPSand EC and navigation devices small integrated navigation system has become the maindirection of current research, it has a great market prospect.So this paper designed a smallmobile robot integrated navigation system.First of all, respectively on strapdown inertial navigation system, GPS and EC navigationsystem advantages and disadvantages are analyzed.It is as a result of each navigation devicealone work of their respective advantages and disadvantages,to encourage people to put thesenavigation devices together, give full play to the advantages of the device, while avoiding thedevice is insufficient, make navigation system more reliable, more precise and more actualengineering needs.To the system on programmable chip (SOPC) as well as the characteristics of a simpleintroduction, it has a flexible customization and cooperation with software and hardware etc,which can help users to quickly and effectively completed system need software and hardwaredesign,and programmable chip system (SOPC) has been successfully applied in various areas,including navigation system in, and the technology development is more mature, so thisdesign chooses the system on programmable chip (SOPC) as a system of the navigationcomputer.Secondly, on the basis of the small mobile robot integrated navigation system fornavigation computer needs, to MIMU, GPS and EC unit on the circuit design and the choiceof components and the overall system of hardware design. In the master control unit based onthe DE2Board, design of interface board, to complete the navigation device links and dataacquisition, and the corresponding voltage transformation, for the navigation device toprovided with a stable power supply,make its stability.In order to further ensure the real-time of navigation system, designed a line for thestructure of the IEEE-754standard32-bit single floating point precision of Cordic algorithm,the navigation system of calculating efficiency is greatly raised, better meet the requirement of real-time of navigation system.Finally,in embedded μC/OS-Ⅱoperation system to establish the relevant tasks, and thesystem software design. According to the basic principle of navigation system, to completeeach of navigation sensors’ data collector, coordinate transformation and strapdown resolving,through the kalman filter, final completion of the system of the navigation task design. |
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