Research On Sins Based On ARM Processor

Micro-electronic mechanical systems using nano technology is up to a new generation of MEMS, It takes silicon semiconductor material as the processing object, using ASIC manufacturing technology to make its dimensions in millimetre magnitude with driven, control and signal processing function. It has low cost, small, easy mass production, middle precision features.According to the needs in small, low-cost application, it designed the SINS CPU board composed of MEMS and ARM microprocessor, and in the final realized the high-speed real-time sampling of the signals of MEMS gyroscopes accelerometers and magnetometers, the solution of attitude and position, and the function of communication with the PC. Meanwhile, it has successfully transplantated theμC/OS-II operating system, and designed the tasks, expansed the interface GPS, provided a good hardware and software development in the follow-up infrastructure.First, the paper dealed with the background and significance of this issue and introduced the hardware and software technology of the SINS system.Secondly, the article gave the calibration error of the MEMS, introduced one theory of strap-on system, and choosed a SINS algorithm according to the real-time requirement.Next, the paper described the hardware design of ARM-based SINS. It gave the program of hardware design, as well as the functional modules in detail. Finally, the paper gave the overall framework of the software, hardware driver program, OS transplantation and the design task. Then It showed the experimental results.Test results show that the small CPU board designed is running well, It has display small size, low cost and real-time performance when using ARM microprocessor andμC/OS-II real-time operating system as the core of the strap-navigation system.The result proved great value in application.