The Integrated Navigation System Based On GPS?MEMS And Geomagnetic

In this paper,the integrated navigation system based on GPS,inertial navigation and geomagnetic navigation is implemented as a starting point,a detailed description of the hardware design of magnetic inertial navigation system has generated,including chip selection,circuit connection,and the design of underlying driver software.Inertial measurement module consists of an integrated 6-axis motion micro electro mechanical system technology inertial sensor(3-axis accelerometer and 3-axis gyroscope)MPU6050 which constitutes a three-dimensional MINS.DSP using TI's high-speed floating-point digital signal processor TMS320C6713 as a combination of navigation data processing unit.The complex programmable logic device(CPLD,complex programmable logic device)EPM1270 has designed as asynchronous communication interfaces,to collecte sensor data and transmitte data to the DSP for processing.Then achieve the features of navigation.Thesis includes the following three aspects:(1)A brief introduction of the basic principle of inertial measurement,geomagnetic measurement,and common sensor types.(2)From the start 0f integrated MEMS gyroscope accelerometer,geomagnetic sensor and CPLD's principle and performance,I overall plan and design the system which consists of the power,EMIF interfaces,a geomagnetic measurement unit,an inertial measurement unit five modules.My main works are electrical connection,PCB layout design as well as the underlying driver.(3)System hardware static and dynamic testing,analysis results,and hardware design recommendations for improvement.