Information Processing Of SINS/GPS Integrated Navigation System Based On ARM

SINS / GPS integrated navigation system is composed of the Strap-down Inertial Navigation System(SINS) and the Global Positioning System(GPS). There are nonlinear error models, pseudo range observation equations and nonlinear equations in such systems, and the noise of combination navigation system is complex. The traditional Kalman filter algorithm and improved Kalman filter algorithms cannot meet the demands of the integrated navigation system error compensation requirements. Therefore, the particle filter algorithm, which is applicable for the non-linear and non-Gaussian stochastic system, is widely used in the integrated navigation system.Firstly, We study the existing standard particle filtering algorithm, due to the standard particle filter algorithm ignored the observations of the current value, the direct use of the a priori probability density function as the importance density function, making the weight almost concentrated in a small number of particles, the particle set cannot be an accurate representation of the actual posterior probability, caused a serious problem of particle degradation. In view of the problems existing in the standard particle filter, and the improved adaptive iterative particle filter algorithm is presented, through its iteration, resulting in new and important density function, update resampling technique, and introduces simulated annealing algorithm, using the cost function to be maximized, solving the parameters of simulated annealing, to solve the problem of particle degradation and normalized weight, and can be fast particle push high likelihood region, to increase the effective utilization of particles.Secondly, the working principle of the hardware and software implementation of SINS/GPS integrated navigation system is studied. Using the upper computer software to test inertial measurement module and GPS receiving module, the integrity and correctness of the received data are detected. ARM main control processor to achieve the system control and navigation solution function, and the various modules connected to form a complete integrated navigation hardware system. By studying the principle of the SINS system, GPS system and SINS/GPS integrated navigation system, the software flow of data update is completed.Finally, the initial conditions and simulation parameters of the SINS/GPS integrated navigation system are set up, and the standard particle filter algorithm and the adaptive iterative particle filter algorithm are simulated by Matlab software. The experimental results show that the adaptive iterative particle filter algorithm has a good filtering effect than the standard particle filter algorithm, the speed and position accuracy of the three directions are improved at least 0.180m/s and 1.789 m. The inertial measurement module and the GPS receiving module receives the recorded data through the serial port to the ARM main control processor, and the processed data is displayed by the display screen in the form of longitude, latitude and altitude.