| The requirements of navigation system for unmanned aircraft include small size, light weight,low power consumption, high precision, fast computing speed and so on. Currently, there is a widerange of navigation systems, the stapdown inertial navigation system (SINS) has been widely used forits completely independence, small size, light weight and low cost. However, due to the defect of erroraccumulating with time, it is difficult to work alone for a long time. The SINS/GPS integratednavigation system has been researched, and information fusion algorithm based on kalman filter hasbeen designed in this paper. The simulation analysis between SINS and integrated navigation systemhas been done in Matlab/Simulink, the feasibility of integrated navigation algorithm has also beenverified.In this paper, two implementations of the integrated navigation system, FPGA solution andDSP+ARM solution, was researched. The former one is based on dual-Nios II CPU architecture, oneof CPU is responsible for the data acquisition, data transfer and sensor control, and the other isresponsible for the navigation operator. DSP+ARM solution uses the same dual-CPU architecture,floating-point DSP with a strong computing power, as well as the STM32chip based on Cortex-M3processor, can well meet the application requirements of the navigation system. The article alsodiscussed in detail the hardware design of the navigation system based on DSP+ARM, as well asdesign and implementation of the module circuit.Finally, several experiment of the navigation system has been done. Under static conditions,SINS system and integrated navigation system was tested respectively. At the same time, attitudeangle information of system was tested on the turntable. Dynamic vehicle experiment was done inorder to verify the dynamic performance of the system. The reliability of the navigation system wasverified through a number of experimental tests. |
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