Design Of GNSS/INS Vehicle Integrated Navigation System Based On DSP And ARM

At present,all kinds of engineering applications need navigation systems with lower cost,higher precision and miniaturization.GNSS/INS integrated navigation has been the focus of intense research in recent decades,and the design structure and methods have gradually increased.Inertial navigation doesn't require external receiving information,or radiate energy to the outside.It belongs to the autonomous navigation system.It has good concealment and anti-interference,and produces continuous navigation information and it is seldom polluted by noise.But the long-term accuracy is poor,and the error will accumulate over time.Compared with other navigation,the accuracy is not high and the orientation is not good.The satellite navigation observation time is short and the accuracy is high,but it's difficult to receive reliable satellite signals in bad environment,which leads to the location failure and the satellite navigation is discontinuous.The advantages and disadvantages of inertial navigation and satellite navigation are complementary,so combined navigation could take the advantages of the two systems at the same time and realize the navigation function which can output the accurate navigation information continuously.With the intelligent society developing,the vehicle navigation system with high accuracy is involved in the engineering application of different industries.Based on the engineering application of agricultural cultivation,harbor loading and unloading,a GNSS/INS vehicle integrated navigation system based on DSP and ARM is designed in this paper.The main work is summarized as follows:First of all,according to the application background and actual requirements,the combination mode,filtering algorithm and hardware composition of integrated navigation are studied,and the overall plan of the vehicle integrated navigation system are formulated.The system is divided into three parts: the satellite navigation receiving module,the inertial navigation receiving module and the information processing module.According to the performance of each functional module,the integrated navigation hardware system based on DSP+ARM data processor is designed.The hardware system of this paper includes satellite receiver equipment and mating antenna,inertial measurement unit,DSP and ARM processing chip.In order to improve the integration,stability,real-time and reliability of the hardware system,a signal processing board is designed.Secondly,the design of software plan and the compilation and test of algorithm program are completed.In this paper,three modes of navigation system,single antenna GNSS/INS integrated navigation,dual antenna GNSS/INS integrated navigation and RTK integrated navigation,are designed.Inertial measurement unit and inertial navigation equation are used to form the inertial system part of integrated navigation.The results of the inertial system and the satellite navigation algorithm are processed by the extended Kalman filter algorithm,and the final combined navigation results are calculated.In this paper,the software program functions of various parts of the system are realized under the environment of CCS and Keil,including inertial navigation program,satellite receiver data processing program,integrated navigation judgment program and integrated navigation Kalman filtering algorithm.Finally,a test platform is set up to test the designed integrated navigation system.By testing,the performance of the integrated navigation system is verified.The experimental results show that the designed integrated navigation system can achieve high precision positioning,and can meet the navigation requirements in fields such as field operation and harbor loading and unloading,and has extensive engineering application prospects.