Research Of Integrated Navigation System Based On FPGA And DSP

With the development of military technology and modern industrial technology,the navigation precision is required higher by the space,navigation and vehicle navigation.In this paper,the strapdown inertial navigation system(SINS)and the global positioning system(GPS)are analyzed.The integrated navigation system is integrated with the improved Kalman filter algorithm to obtain the high precision navigation information.Firstly,this paper analyzes the strapdown inertial navigation system and GPS positioning system,and determines the system mode of speed and position composed.When the GPS signal is lost,in order to improve the navigation precision,the magnetic field is used to assist the navigation.the state equation and observation equation of the SINS and GPS integrated navigation system are derived.In this paper,the UKF filter algorithm is used to reduce the dependence of the old information.The simulation results show that the algorithm can reduce the model error in navigation data fusion,and improve the integrated navigation precision.Secondly,the paper studies the engineering implementation of integrated navigation system,and designs the hardware platform based on FPGA and DSP.The system circuit designed,circuit board wiring and hardware and software debugging are completed.Thinking out the diversity of the sensor interface,the data acquisition circuit core chip is used to link with FPGA.In order to meet the real-time and high speed data processing requirement,data processing core chip is implemented by high speed DSP.At last,the integrated navigation system test of the prototype is carried out.The experimental results show that the integrated navigation system based on FPGA and DSP can achieve the basic function of the system,improve the accuracy,speed and stability of the integrated navigation system,and show the great advantage of high performance FPGA and DSP in integrated navigation system.