Design And Implementation Of Sins Based On TMS320F28335

Although the strapdown inertial navigation system(SINS)has been widely used in aviation,aerospace,navigation and many other fields,but in the dynamic interference environment,facing in the interference of dynamic acceleration and angular velocity,how to achieve the fast and accurate SINS is still the hot issue of the research.In particular,how to realize the fast and accurate self-alignment of SINS under dynamic disturbance condition is a key technology to restrict the SINS and determine the precision and performance of SINS in the practical application.This dissertation starts from the practical application of SINS,builds the SINS platform based on TMS320F28335 DSP,focuses on the self-alignment method of SINS and its implementation under the dynamic interference,and implements a set of SINS prototype for dynamic jamming environment.The research of this dissertation mainly includes the following aspects:Firstly,TMS320F28335 DSP is used as the core to construct a DSP-based SINS computing platform,which provides physical platform support for the subsequent research and implementation of the SINS algorithm.The entire computing platform takes 28335 DSP as the core processor,controling the command transmission,data communication,algorithm solution and SINS platform operation real-timely.The serial circuit module for command transmission and data communication,the reset circuit module,the clock circuit module,the JTAG interface module,the power supply circuit module and auxiliary simulator and cable are designed.The design of DSP-based SINS system is completed finally.Secondly,the coarse alignment method of the inertia system under the rocking base is realized by using the feature that the change of the direction of gravity acceleration in inertial space includs the northward information of the earth,and the attitude angle error of the coarse alignment method in inertial system is deeply analyzed,the propagation process of the inertia sensor error in the alignment process is deduced,and the quantitative relationship between the inertia sensor error and the attitude misalignment angle is established.On the basis of this,the error model of SINS fine alignment under dynamic disturbance is established.According to the uncertainty characteristics of measurement noise and process noise in the error model,the linear regression equation and quadratic cost function of M estimation algorithm are improved based on the generalized maximum likelihood.An adaptive kalman filter algorithm with series-wound iterative M estimation is proposed and applied to the fine alignment process under the rocking base to realize the accurate estimation and compensation of the attitude error angles.The accuracy and performance of the overall alignment method is verified by simulation and semi-physical experiment,which provides a guarantee for the actual implementation of SINS system.Finally,DSP-based SINS is implemented and tested.The calculating program of the SINS and the initial alignment algorithm are transplanted into the TMS320F28335 DSP system.The architecture and execution flow of the whole system are designed,and the experiment of the whole SINS under the condition of dynamic interference is carried out.The experimental results verify the performance and reliability of the whole SINS.