Research On High Performance MEMS Integrated Navigation Technology Based On Fully Programmable SOC

MEMS integrated navigation system has been widely used in military and civilian fields because of its low cost,light weight,and easy installation and maintenance.In order to meet the low-cost and miniaturized development needs of the integrated navigation system of our unit,this article designs and manufactures a SOC integrated navigation system based on SOC.Considering that the quartz micro-gyroscope drive tuning fork has the problem of insufficient measurement and control,on the basis of consulting relevant materials,the design and implementation of the digital gyroscope measurement and control algorithm are completed through Simulink modeling.The main work is summarized as follows:Firstly,this paper conducted a full investigation and research on the development status of MEMS gyroscopes,accelerometers,inertial measurement units and integrated navigation systems at home and abroad,and determined the necessity of designing a new MEMS integrated navigation system hardware platform and digital gyroscope measurement and control algorithm.Secondly,this article introduces the basic principles of integrated navigation,formulates the MEMS integrated navigation system hardware design plan,and completes the preparation of the principle prototype.This MEMS integrated navigation system is divided into power module,Zynq main control module and sensor module.Among them,the main function of the power supply module is to provide stable voltage for the remaining two parts;the Zynq main control module includes the Zynq module,FLASH module,DDR3 module,PS and PL clock module,which is the core of the entire integrated navigation system;the sensor module includes the MEMS gyroscope,MEMS accelerometer,navigation receiver,the function of this module is to achieve accurate measurement of system data.Then,this article carries on the Simulink simulation modeling and FPGA realization of the digital gyroscope measurement and control algorithm to the quartz micro-gyroscope drive part.The gyroscope used in this article is a MEMS quartz tuning fork gyroscope independently developed and produced by our unit.Through the closed-loop analysis of the gyroscope drive part,a Simulink model is established,which mainly includes: a signal generator,a quartz gyroscope drive tuning fork,a lock-in amplifier,and a controller.The phase-locked amplification technology is used to achieve accurate measurement of the phase and amplitude of the drive tuning fork,and the PID controller is used to achieve stable control of the phase and amplitude.On the basis of simulation analysis,FPGA implementation of the digital gyroscope measurement and control algorithm mainly includes: sine signal generator module,phase-locked amplifier module and control module.Based on the principle of phase accumulation,the sine wave required to drive the gyroscope is generated,and the phase and amplitude of the phase-locked amplifier module are solved using the CORDIC algorithm.Finally,in order to evaluate the performance of the designed MEMS integrated navigation system prototype and digital gyroscope measurement and control algorithm,the pure inertial navigation system verification test,the integrated navigation system static test and the sports car test were conducted respectively.The experimental results show that the minimum stability of the gyroscope is 5.355°/h and the maximum is 8.061°/h,which meets the requirements of less than 10°/h in its technical specifications.The performance of the accelerometer and integrated navigation system also meets the technical specifications.