The Design Of SINS/GPS/Electrical Compass Integrated Navigation System

With the development of MEMS technology, inertial measurement unit which using MEMS technology has recently been widely used in navigation system, because of its advantages such as small size, low cost and high reliability.This greatly promoted with low power consumption, low cost, high reliability, moderate accuracy of integrated navigation system in the civil field. Paper based on Cortex-M4 kernel, proposed and designed SINS / GPS / electronic compass multi-sensor integrated navigation computer, into kalman filtering algorithm, make full use of the characteristics of the complementary advantages between navigation subsystem, effectively improve the accuracy and reliability of the navigation system.First, according to the application background and work environment and other factors of navigation computer, this paper analyze the performance requirements of the navigation computer,then established the STM32F407VGT6 processor as the core hardware circuit design, and on the basis of the scheme, put forward the overall software design of navigation computer. In order to meet the navigation computer's requirements of miniaturization volume, the inertial measurement unit and three-axis electronic compass chip based on MEMS technology selected by the system, At the same time GPS receiver is added aided inertial navigation system.Then through the detailed study of the integrated navigation system hardware platform design, suitable electronic components selected to build hardware circuitry. Hardware circuit design mainly includes the power supply of the sensor and MCU, controller peripheral circuit design and the sensor data acquisition peripheral circuit. At the same time SD card data storage module and TFT LCD display module are also embedded for this navigation computer.Upon completion of the navigation computer hardware, efficient software programs need embedded in navigation computer that can play navigation computer hardware resources and the fundamental performance, Thesis gives a detailed software design for the various modules of the navigation computer. At first, sensor driver program was written to success communication between controller and external devices;Then according to the working principle of the sensor, briefly introduced the algorithm which is applicable to engineering quaternion SINS system; Finally, data fusion method for SINS / GPS / electronic compass navigation systems, introduces the Kalman filter algorithm and gives suitable for engineering applications discrete Kalman filter equations.At last, outdoor test experiment is done for the navigation computer,the test results show that the designed multi-sensor integrated navigation system meets the application needs,the system has the characteristics of small volume, low power consumption, low cost, and has a certain value in engineering.