A Design Of Strapdown Inertial Navigation System Based On ADuC7026

The strapdown inertial navigation system is named after its mathematical platform, which is used to calculate the navigation coordinate system. It is directly attached to the vehicle, and the working environment is very poor. Therefore, the high accuracy and high performance of the attitude update algorithm and position algorithm directly determine the precision of the strapdown inertial navigation system. In this paper, two aspects of theoretical derivation and hardware design are studied.This paper aimed at the navigation problem of quad tiltrotor aircraft, and proposed a overall design scheme of the strapdown inertial navigation system, and a core calculation method based on quaternions. This paper also proposed an improved algorithm, which applicated on embedded platform for attitude solution and for speed and position calculation solution. This paper compiled the program of the algorithms based on the ADuC7026 microprocessor.Based on ADuC7026 processor and MPU6050 sensor, this paper designed a hardware design scheme of strapdown inertial navigation system. The design of the sensor, MCU minimum system and the output of the three module circuit, and the power circuit and communication interface circuit were introduced. Finally, a strapdown inertial navigation platform is built for experimental testing.In the software design of strapdown inertial navigation system, this paper proposed a software architecture of strapdown inertial navigation system. The main program used a dual-layer cycle. The inner loop is responsible for computing the data, and the external loop is responsible for display results. At the same time, this paper describe the reality of sensor filter function, the reality of quaternions update function and the reality of location update function, etc..In order to verify the feasibility of the design of strapdown inertial navigation system, the improved algorithm is simulated and verified by MATLAB software. Then, static state and system test experiments are carried out to verify the validity of the scheme.