Research On Low-cost SINS/GNSS Integrated Navigation System Based On ARM

At present,many researches on SINS/GNSS integrated navigation system use highprecision inertial measurement unit as data acquisition unit.However,high-performance sensor unit also means higher cost,which limits the promotion and application of this integrated navigation system.Therefore,the development of low-cost SINS/GNSS integrated navigation system has become a hot topic in the field of integrated navigation.In this paper,a series of research work was carried out on ARM-based low-cost SINS/GNSS integrated navigation system.The main contents are summarized as follows:(1)Thesis briefly describes the SINS mechanical arrangement process under ideal conditions,and then introduces the actual error source,and deduces the attitude,velocity and position error equations;The state equation and measurement equation of loose integrated navigation based on Kalman filter are given.The simulation experiments of SINS and two integrated navigation algorithms are carried out respectively.The results show that the advantages of SINS/GNSS integrated navigation are verified,and the extended Kalman filter has better accuracy,which lays a foundation for the design and implementation of subsequent integrated navigation software.(2)The basic performance requirements of SINS/GNSS integrated navigation system are analyzed.In order to meet the requirements of navigation performance and meet the requirements of navigation performance and achieve the low-cost goal,the cost is controlled from the hardware level,and the selection of hardware resources such as ARM processor is completed.The underlying driver of LPMSME1 is based on HAL library file,so the data communication between LPMSME1 and the hardware IIC of the main control board is realized by STM32 Cube MX.The "ping-pong buffer" is realized by using DMA interrupt mechanism,which solves the problem of navigation information loss caused by n MEA-0183 decoding and receiving data conflict of STM32F407,and realizes the serial port data communication between BH-NEO-6M and the main control board.(3)Considering that the hardware may have insufficient performance under the condition of low cost,?C/OS-III real-time operating system was transplanted based on HAL library,and verified the validity of the transplant through the test routine.The realtime operating system was introduced from the software level,the hardware resources were rationally allocated,and the operating efficiency of the processor was fully improved.The task division and priority assignment of integrated navigation software are studied,the overall design of integrated navigation software is completed,and the synchronization communication between each task module is realized by using the related components of RTOS such as semaphore and event flag group,which improves the hard real-time performance of the system.The modular programming makes the integrated navigation software have good compatibility and expansibility.(4)The SINS/GNSS integrated navigation physical experiment platform was built,and the outdoor sports car dynamic and static experiments were carried out.The test results showed that the SINS/GNSS integrated navigation system can suppress the cumulative errors of pure SINS and provide users with more accurate navigation and positioning information.The effectiveness of the integrated navigation software design based on ?CO/OS-III real-time operating system was verified.It provides some reference for the design of integrated navigation software based on real-time operating system.