Design And Implementation Of GNSS/SINS Integrated Navigation System Based On ZYNQ

With the upgrading and development of all kinds of transportation,people’s pursuit of vehicle navigation function is also increasing.The traditional vehicle navigation system based on satellite navigation technology has problems such as poor anti-interference and insufficient stability.In order to improve the performance of vehicle navigation system,it is of practical significance to apply GNSS/SINS integrated navigation technology to vehicle navigation system.In this paper,ZYNQ as the core,carried out the design of GNSS/SINS vehicle-mounted integrated navigation system,the main work completed is as follows:The navigation error model,filtering algorithm and integrated navigation mode were analyzed,and the algorithm implementation scheme of GNSS/SINS integrated navigation system was determined.The mathematical model of GNSS/SINS integrated navigation system was established,and the feasibility of the design scheme was verified by algorithm simulation.Aiming at the problem that the real-time performance and stability of embedded system are reduced due to the large amount of arithmetic of integrated navigation algorithm,a hardware solution of "ARM+FPGA" is proposed.The hardware platform of GNSS/SINS integrated navigation system is built with ZYNQ So C as the core.The FPGA on ZYNQ PL is used to complete various I/O functions in the system,which reduces the working pressure of the ARM processor on the PS side and makes it more focused on the processing process of integrated navigation algorithm,thus improving the real-time navigation data and the overall operating efficiency of the system.The GNSS/SINS integrated navigation algorithm was transplanted based on ZYNQ hardware platform.Qt is used to develop embedded software,and embedded Linux system and Qt program running environment are built for hardware platform.The ZYNQ platform implements the functions of inertial navigation data acquisition and analysis,satellite navigation data acquisition and analysis,strapdown inertial navigation algorithm,Kalman filter algorithm,data display,dynamic curve drawing and navigation data storage.The system experiment test scheme is developed,and the integrated navigation system designed in this paper is tested from three aspects,including precision,real-time performance and stability.The experimental results show that the designed integrated navigation system meets the practical application requirements of vehicle integrated navigation system and provides a feasible reference scheme for the engineering implementation of vehicle integrated navigation system.