Information Processing And Implementation Of SINS/GPS/GNS Integrated Navigation System

Since the features of SINS and GPS navigation are highly complementary and themagnetometer can achieve high-precision attitude measurement, the SINS/GPS/GNSIntegrated Navigation has become mainstream solutions. In this paper, the informationprocessing system of SINS/GPS/Geomagnetic integrated navigation based on DSP+FPGA architecture was studied and its project implementation was completed under thebackground of the laboratory project.First, the theoretical basis of MEMS inertial devices, SINS, magnetometer attitudemeasurement and GPS navigation were introduced in this paper. then the architecture ofthe information process systems hardware was designed according to the requirementsanalysis.Second, this paper detailedly studied the underlying software and hardware designof the integrated navigation system. The hardware design mainly consist of systempower supply design, DSP and FPGA peripheral circuits, IMU circuit design and signalacquisition circuit. The underlying software design was mainly focused on the DSPinitialization, navigation parameter storage, bootloader program, GPS informationextraction and signal acquisition program.Finally, the navigation experimental prototype was developed successfully. Afterthe completion of the hardware and software debugging of the prototype, the turn tableexperiment and vehicle experiment were conducted. The analysis of collectedexperimental data shows that each module system works well and GPS information wasextracted normally. The system obtained higher stability and accuracy than single SINSor GPS system.The integrated navigation information processing system with low volume andpower consumption was successful designed possessing various functions, and theaccuracy, calculating speed and the stability of this system were also improved,reflecting huge advantage of high performance DSP and FPGA in the applications of integrated navigation.