The Design And Implementation Of SINS/CNS Integrated Navigation System Based On OMAP

The navigation system is one that can provide precise motion parameters for all kinds of sports bodies and carriers,whose high reliability and accuracy is the precondition of achieving its accurate navigation, as well as the basis for the development of precision guidance technology. The commonly used inertial navigation system have many advantages,for example,it is totally autonomous , can provide all the motion parameters continuously,and it's quite accurate in short time application.But the disadvantage is that the operating error would be accumulated with the time of working.The celestial navigation system can provide attitude and location information without the problem of accumulated operating error. However,its application is limited by weather conditions,and the positioning is not accurate enough.What's more, the update rate of navigation data is not that stable. Thus, it's almost impossible for us to meet the requirements of high-precision navigation of moving carriers for a long time by only one single navigation system.SINS/CNS integrated navigation system can make full use of the advantages and characteristics of both the inertial navigation and the celestial navigation system,and greatly improve the accuracy and reliability of the navigation system.It can also lower the requirements for inertial devices,which means a reduction in the cost of the inertial navigation system.As more and more navigation information sources are used in integrated navigation system, it becomes necessary for us to design one integrated navigation system with plenty peripheral interfaces,a high speed of data processing, strong control abilities,as well as powerful interactive functions.Based on requirements of the analysis system used in the SINS/CNS integrated navigation system,my paper is mainly aimed to design software and hardware of the system,and provide input interfaces for other navigation information sources for system upgrade.In this paper, efforts had been made in the following aspects:1. Analyzing the overseas and domestic research status of fiber optic gyroscope and integrated navigation computer, and putting forward the design of the navigation computer based on OMAP - L138 for practical needs.2. Explaining briefly the basic principles of inertial navigation and celestial navigation,analyzing error equations of inertial navigation, thus,establishing integrated navigation system model and describing the optimal estimation method based on Kalman filter.3. Designing schematics of hardware platform of the integrated navigation system and drawing the corresponding PCB board. Introducing in detail the system software development environment,as well as the design process of DSP and ARM software .4. Testing the functions of the integrated navigation hardware platform in modular ,and measuring the feasibility of the system software at last.