.mems-imu/gps Integrated Navigation System Key Technology Research

MEMS-MIMU/GPS combination navigation system has large military affairs and civil value. This article does some deeper researches aiming at beforehand processes of M-MIMU and GPS's data, design of distributed navigation computer's software and hardware and data amalgamation. The main work can be summarized as followed:(1)Found error model of inertia component and expatiate the whole demarcate method of M-IMU;(2) Use DSP+FPGA as the core to design M-MIMU/GPS distributed navigation computer and debug its software and hardware. Use 16 bits AD convert CMOS chip and FPGA to realize highly precision data collection; use FPGA to receive GPS asynchronous series port telegraphers; realize the data exchange of FPGA, DSP and AD with DSP by using FIFO. Communication of system with computer is realized by using FPGA to simulate RS-232 agreement.(3)Expatiate some combination technology of combination navigation system briefly. These technology include the work principle and navigation solution arithmetic of strap-down inertia navigation system, Kalman filter technology, the key technology of combination navigation data amalgamation, bringing forward a method called coordinate unite aiming at data amalgamation under different coordinate and realizing data in-phase of M-IMU and GPS by combination RAM of FPGA and DSP and timer interrupt and so on.(4)Design velocity and location MEMS-IMU/GPS combination filter. Give error equation of inertia navigation system and GPS and state and measure equation of velocity and location combination. Then disperse the state equation and observation. At last realize the open loop Kalma filter of combination system.(5)Found MEMS-IMU/GPS experiment system and do car experiment. The result illustrate the combination navigation computer designed can meet the demand of the system. It found an all right base for to do next research of MEMS-IMU/GPS combination system.