Design And Implementation Of Low-cost MEMS-SINS/GPS Integrated Navigation System Based On ARM

SINS/GPS Integrated Navigation can take advantage of the respective advantages of Strapdown Interial Navigation System(SINS)and Global Positioning System(GPS).It takes advantage of its shortcomings to obtain navigation information with high accuracy and good reliability.It has a crucial application in the civil field and is a popular research direction of current integrated navigation technology.This paper analyzes and studies the low-cost MEMS-SINS/GPS Integrated Navigation system based on ARM.First,the mathematical model of SINS/GPS integrated navigation system is established.Introduce the commonly used coordinate system and related conversion relationship of integrated navigation system;introduce the composition,positioning principle and error analysis of global positioning system;describe the basic principle of strapdown inertial navigation system,the basic equation of strapdown inertial navigation system,including mechanics Orchestration and attitude,speed,position update algorithm,and strapdown inertial navigation initial alignment;three combined modes of SINS/GPS combined navigation are analyzed.Secondly,the design of the SINS/GPS integrated navigation filter is completed,the basic principles of the Kalman Filter algorithm are studied,the state quantity,quantity measurement and correction methods of the integrated navigation system are analyzed and selected.After analysis,the state equation and measurement equation of the combination of SINS/GPS position and velocity are established.Then,completed the overall scheme design and hardware implementation of ARM-based low-cost MEMS-SINS/GPS integrated navigation system,introduced GPS function module,SINS function module and ARM system processor in detail,and built SINS/GPS integrated navigation system hardware system.Finally,the software design of the SINS/GPS integrated navigation system is completed and the test experiment and result analysis are carried out.Based on the embedded Linux operating system,Qt Creator was used to write the software for the combined navigation algorithm.The comparison test between integrated navigation and pure strapdown inertial navigation was conducted to verify the effectiveness of integrated navigation to solve the error accumulation problem of strapdown inertial navigation.Then use the integrated navigation system built by ourselves and the high-precision reference integrated navigation system to conduct a navigation comparison test to verify the navigation accuracy of the independently developed integrated navigation system.