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为提高导航设备的适装性,设计了一个基于DSP-ARM的低成本MEMS IMU/GNSS组合导航系统,系统采用ARM芯片对惯性测量单元和卫星接收机模块进行原始数据采集和器件配置,并实现原始数据解码和打包发送给DSP,DSP芯片接收ARM发送的打包数据,进行组合导航解算,并将原始数据与导航数据输出。介绍了组合导航系统的组成结构,给出了硬件系统和软件系统的设计,采用初始对准、惯导解算和组合导航算法,并对算法进行了仿真分析和跑车试验,试验结果表明,设计的组合导航系统的位置误差为10m以内,速度误差为0.1m/s以内,航向误差为2°以内。
In order to improve the suitability of navigation equipment, a low-cost MEMS IMU / GNSS integrated navigation system based on DSP-ARM is designed. The system uses ARM chip to acquire the raw data and device configuration of inertial measurement unit and satellite receiver module The original data is decoded and packaged and sent to the DSP. The DSP chip receives the packaged data sent by the ARM, performs the combined navigation solution, and outputs the original data and the navigation data. The structure of the integrated navigation system is introduced. The design of the hardware system and the software system is given. The initial alignment, the inertial navigation solution and the integrated navigation algorithm are introduced. The simulation and sports car test are carried out. The experimental results show that the design The combined navigation system has a position error of less than 10 m, a speed error of 0.1 m / s, and a heading error of less than 2 °.