Software Design And Implementation Of Low Cost Navigation System Based On DSP

The main content of this paper is the integrated navigation system between the SINS and GPS based on the merits and demerits of inertial navigation and GPS technology. On the basis of low-cost inertial navigation devices and TMS320VC5509ADSP to design the software of integrated navigation system.First of all, the thesis learns the key technology including the mechanical layout equation of strap down inertial navigation system, attitudes transformation matrix and GPS navigation technology etc. and analyses the deficiencies and weaknesses of strap down inertial navigation and GPS navigation technology’s to determine the necessity of designing integrated navigation system according to each respective shortcoming. Then, this thesis learns the combinations of low-cost inertial navigation devices and navigation systems because of the uncoupled combination navigation easy to be realized. Therefore, this paper established the mode of the system is the non-coupling combinations. Runge-Kutta method is a high-precision single-step algorithm which used in projects widely. However, there is a larger amount of arithmetic operations. This requires the system have a high-speed processing chip must be capable to carry. The DSP chip is specifically a high-speed processing chip. According to the analysis above, and decide the "Runge-Kutta" as the system differential equations solver algorithm.Finally, after all the experiments and tests with using this system, the experimental results are analyzed. In the 0-5000s period, the pitching angle error of the system is larger, but the other errors of navigation parameter are in the acceptable range.