Research Of SINS/GPS Integrated Navigation Of Small UAVs Based On ARM

With the development of technology, more and more functionality and variety of small UAVs came out, small UAVs now been widely used in various fields,because of small size, flexible operation, low cost and many other advantages small UAVs are attracting people of worldwide countries began to develop unmanned aircraft for various purposes. Navigation system is an extremely important part of the UAV, which directly determines the UAV control system, because the control of the UAV attitude, position, speed and other parameters are provided by the navigation system, so now navigation systematic study has also become a popular trend.The strapdown inertial navigation system (SINS) and global positioning system(GPS) constituted Navigation system described in this article. Inertial navigation system has a disadvantage of only in a short time to maintain stable performance, as the time accumulated, error will accumulate. But inertial navigation system does not have to accept external signals, this system can autonomously navigate in a short time and the navigation data accuracy is high. The GPS navigation system require high external conditions, it needs to receive satellite signals, and once in a sheltered environment or poor weather, GPS receiver and the satellite signal can not be received, and GPS will lose navigation functions. But GPS accuracy is a big advantage, once able to receive enough signal, which can be 24 hours a day to provide accurate navigation data. Both systems utilize their strengths to compensate for each other’s weaknesses, the formation of a GPS/SINS integrated navigation system. The system will improve the accuracy of the UAV attitude, position, velocity and other information to improve the accuracy and stability control UAVs.This paper studies the GPS/SINS integrated navigation system based on ARM, which is mainly used on small UAVs, which focuses on the following aspects:First, this article will introduce GPS/SINS integrated navigation background and significance, as well as analysis of the development prospects of their use in small UAVs; and then analyze the basic principles of GPS/SINS integrated navigation and inertial navigation highlights include a series of gestures, speed, location solver and error analysis and GPS positioning algorithm, and a combination of ways to navigate the system; there, the analysis and design of data processing module based on ARM, GPS module, SINS module, display modules and other hardware modules and integration; furthermore, this article will introduce the design analysis software program of integrated navigation system; the next, use the small unmanned aircraft equipped with the navigation system to flight test, observe and record the navigation system data analyze the deficiencies, an improved scheme; finally, concludes the paper.This navigation system in the paper because of its small size, light weight, high precision, suitable for small UAVs equipped, it has important significance for small UAV detection, search and rescue, aerial photography and so on.