Research On Technology Of The Embeded GPS/SINS Integrated Navigation System

The technology of GPS/SINS integrated navigation has become the important aspect of the disquisition. The reason is that the GPS/SINS integrated navigation system can use the strongpoint both of Global Positionong System and Strapdown Interial Navigation System; also it can get the higher accuracy and the more credibility of positioning information. Based on the imbedded technology, the low cost and subminiature GPS/SINS integrated navigation system is researched in this paper.First, the mathematic model of the GPS/SINS integrated navigation was built. The theory of the GPS/SINS integrated navigation the was analyzed detailedly. The theory includes: the basic principles and the main error source of GPS; the software arrangement and the main error source of SINS; the combination mode of the GPS/SINS integrated navigation. Base on this, The the mathematic model of the GPS/SINS integrated navigation was built through the Kalman Filter.The second, the design and actualize of the GPS/SINS integrated navigation hardware was finished. By the guidance of collectivity hardware design scheme, the process of design was introduce include the GPS model SINS model and the control CMOS chip model based on the ARM9.The third, the design of the GPS/SINS integrated navigation software was finished under Wince. A new solution for time synchronization between the data from GPS receiver and IMU is proposed. And the GPS/SINS integrated navigation software was actualized.Finally, the eminent performance of GPS/SINS integrated navigation system based on ARM and Wince was validated by the vehicle experiments. It was proved that the integrated navigation solved the problem of the system time-dependent error growth by the compare between SINS and GPS/SINS. Through the compare between the independence developed integrated navigation system and the overseas product, it was proved that the independence developed integrated navigation system has a favorable performance. The result of the field test demonstrated the validity of the solution for time synchronization and the practicability of the choice for the parameter of Kalman Filter.The research in this paper can provide reference for the design of the navigation system and the control system used on the minitype unmanned airplane. At the same time, it can use for the reference of other integrated navigation system.