Design And Implementation Of An Embedded GNSS/SINS Ultra-compact Integrated Navigation System

Precision-guided weapons play an increasingly important role in modern warfare.However,in the increasingly complex battlefield environment,precision-guided weapons often face unfavorable factors such as high dynamic,weak signal and strong interference.In order to further improve the comprehensive performance of navigation system in complex environment,the combination of inertial navigation system and satellite navigation have become the future development direction.The paper is under the research background of a project subsidized by NSFC(Natural Science Foundation of China),and takes GNSS/SINS ultra-tightly integrated navigation system as its research objects,including navigation algorithm research and prototype software and hardware design.The contents mainly include:(1)Analyzing GNSS and SINS system in GNSS/SINS ultra-tightly integrated navigation system.Presenting the design of the application program of the satellite information processing and the strapdown inertial navigation system.Finally,comparing the different navigation modes and choosing the appropriate combination mode.(2)Researching the integrated navigation filter of ultra-tight integrated navigation system,including system error modeling,filter design,etc.Aiming at the problem of the estimation error lag caused by the data communication delay in the integrated navigation filter,the data synchronization and the error recurrence correction method based on the state transition matrix are designed and implemented.The design is proved by simulation.(3)For high dynamic,the GNSS receiver technology based on inertial information is studied.Including the use of inertial information assisted GNSS receiver capture,rapid hot-start and loop tracking.Finally,the algorithms are verified by hardware in the loop simulation platform.(4)The design scheme of GNSS/SINS ultra-tightly integrated navigation system based on DSP+FPGA was determined on the basis of the analysis.Selecting and introducing the main components according to system requirements.Then the important hardware module is designed.Finally,designing the software module.(5)Through the simulation of satellite signal simulator,the laboratory static tests and road driving test,the performance of the GNSS/SINS ultra-tightly integrated navigation system was evaluated.