Design And Implementation Of Beidou/SINS Integrated Navigation Based On Embedded Platform

Integrated navigation technology is able to deliver advantages of various systems with which more reliable and comprehensive navigation information can be acquired,whereas,the single navigation system appears its certain limitations in precision,stability and navigation information integrity.With the completion of China BeiDou Navigation Satellite System,it is of great significance to embed BeiDou Navigation Satellite System into the integrated navigation system.Embedded system prominently features real time,transplantability,application exclusivity and low resource occupancy as to respect of system performance.The deployment of embedded technology in integrated navigation system makes the whole system more miniaturized and exclusive.Therefore,this article is aimed at the study on the BeiDou/SINS integrated navigation based on embedded platform.This article starts with an overall design scheme of integrated navigation system.Hardware wise,an appropriate embedded hardware platform and navigation hardware modules are selected and the relevant hardware is performed with debugging;Software wise,based on the hardware environment and required functions as designed in this article,Windows CE 6.0 is chosen as the embedded operating system and Visual Studio 2005 as the development environment for the entire design.Then,the article expounds the customization and transplantation process of Windows CE 6.0 embedded operating system.On this ground,through the study on both navigation modules operating principle and communications mechanism,develop the program that works with C#,receiving data that navigation modules send,and analyzing the received data.Implement BeiDou/SINS integrated navigation on embedded platform with the EKF algorithm.In order to verify the performance of BeiDou/SINS integrated navigation based on embedded platform,the article ends with data acquisition and verification under the static situation,and GPS/SINS integrated navigation based on embedded platform is added to the experiment as well.The results prove that the designed system has implemented BeiDou/SINS integrated navigation,which is able to output fusion of velocity and location information that is of two systems.On comparison between GPS/SINS and single SINS,BeiDou/SINS integrated navigation is of higher precision and reliability under the static situation.