SINS Measurement System Design Based On ARM

Navigation technology is very important in the field of modern science and technology. It involves multi-disciplinary and multi-field edge technology. In recent years, inertial navigation system is an important research direction for the development of inertial technology, which gets more and more widely used in aircraft navigation with the advantages of low cost, small size and independent. In this paper, Strapdown inertial navigation system theoretical was researched aimed at the measurement requirements of micro UAV motion parameters. The main work is as follows:(1) First of all, this paper describes the basic principles of inertial navigation and analyzes three methods of inertial attitude solution, meanwhile gives the inertial navigation attitude parameters, velocity profile and orientation renewal theory.(2) Second, this paper introduces the traditional discrete Kalman filter. On this basis, attitude, position and velocity estimation algorithm were introduced, then attitude information, position information and velocity information were calculate respectively. To improve the accuracy of attitude angle calculation, this paper proposed a solution method which takes dynamic acceleration as the noise added to the observation equation and adds the offset error of gyroscope to the state equation. Considering the inaccuracy of the GPS signal, a calculating algorithm was proposed based on the combined compensation using the accelerometers and barometer.(3) Again, this paper combines with the Strapdown inertial navigation system characteristics of miniaturization and low power consumption.STM32F401CC is used as main controller. Accelerometer, gyroscope, magnetometer, pressure gauge and GPS module were used as measurement unit. by Altium Designer and MDK development environment, inertial navigation measurement system was designed.(4) Finally, in order to verify the feasibility of the algorithm and circuit, the designed algorithm was embedded into the system and inertial measurement experiments were conducted to verify the feasibility of attitude, position and speed algorithm based on the EKF algorithm. By comparing the navigation system and the commercial high precision sensor in UAV, the actual performance of the inertial navigation system verified.