The Research And Implementation Of Integrated Navigation System Based On DSP/FPGA

Due to the rapid development of science and technology, the requirements of aircraft was more and more about navigation. It is not easy that the sole navigation system satisfies the request of navigation . The integrated navigation system composes two or more different kinds of navigation system by a specific way, making them complementary advantages in order to get better navigation performance. The method has become the main direction of the navigation field development. The paper puts strap-down inertial navigation (SENS) and global positioning system (GPS) together, through the position-velocity combination way and Kalman filter algorithm to complete the information fusion of integrated navigation system, and gets high-precise navigation information. This paper proposes integrated navigation computer scheme based on DSP and FPGA, and to complete the solution and information output of navigation.Firstly, the paper analyses on the two navigation mode - SINS and GPS, it determines their combination way that uses the position-velocity combination way. And it gives the systematic measurement equation and equation of state for Kalman filter algorithm. This paper brings forward the hardware platform of integrated navigation computer whole design scheme based on DSP and FPGA according to SINS/GPS integrated navigation system requirement. In the scheme, Altera’s FPGA chip - EP3C10E144A7 is used to accomplish navigation data collection,data buffer and periphery extended module communication. TI’s TMS320C6726 chip as processor is used to finish SINS’s algorithm solution and Kalman filter, operation ability, and data processing efficiency is improved too.The paper lay emphasis on the study of realization of DPS/FPGA hardware platform circuit and FPGA data collection software. Simultaneously, it presents in detail the system simulation of integrated navigation system,designs the algorithm of IMU data generator. On this basis, this thesis completes the simulation of SINS’s algorithm, initial alignment algorithm and integrated navigation algorithm, also analyzes the result.Finally, the paper makes experiment to integrated navigation system. First, it calibrated separately to accelerometer and gyroscope.Then using calibrated IMU finished static experiment and turntable swing experiment. Through analyzing the experimental result, we can come to a conclusion of gyro’s zero position stability and better nonlinearity.Afterward,make vehicle integrated navigation tests. GPS receiving position information access system as observations. The experimental results show that the integrated navigation system’s work is stable and normal. The zero position error of IMU can be correctly estimated.So this paper put forward integrated navigation system based on DSP and FPGA, its performance is better than the sole navigation system, it will lay a foundation for engineering application.