Design And Development Of Integrated Navigation System Based On DSP

With the increasing demand of navigation in all aspects,the navigation technology has been fully developed.Because of the superior performance of the integrated navigation system,it has been widely used in many fields at present,and the study of integrated navigation has become the future of navigation an important direction of field research.This paper presents a navigation system with DSP as processor and GPS/Inertial navigation combined with two kinds of navigation methods.At the same time,a variety of navigation sensors such as magnetometer and altimeter are added to the system.First of all,the navigation source used in this integrated navigation system is studied theoretically,that is,inertial navigation and GPS navigation.The inertial navigation principle and solution process are described.Then the commonly used coordinates of common inertial navigation system and the mutual conversion between each coordinate system are studied.Their conversion methods and transformation matrix are given,and the initial stages of inertial navigation Alignment methods;research GPS navigation principles and GPS navigation speed and location of the calculation method,as well as the combination of two navigation systems.This article uses a combination of location,speed and loose combination.Then the hardware system design based on DSP integrated navigation system is proposed.Through the analysis of the use of the environment and processing speed and trade-offs,to determine the processor,inertial devices and GPS receivers and other devices models.According to the electrical characteristics of each device and communication methods,designed their own hardware circuits,to further complete the software system design,including data read flow,chip configuration initialization and navigation data fusion algorithm(Kalman filter algorithm),and for Carl Man filter algorithm has been simulated test.Finally,the integrated navigation system was tested by hardware circuit,sensor data acquisition test and static dynamic test.By analyzing the test results,it is concluded that the proposed scheme of the system can obviously improve the navigation accuracy,the errors are within the acceptable range,and meet the initial design requirements.