外文翻译-设计和捷联惯导 GPS组合导航系统的实验研究.docVIP

英 文 翻 译 系 别 专 业 班 级 学生姓名 学 号 指导教师 PAGE \* MERGEFORMAT PAGE \* MERGEFORMAT 8 Design and Experiment of SINS/GPS Integrated Navigation System Abstract—To meet the requirements of SINS/GPS integrated navigation system such as high accuracy, low power consumption and small size, an embedded navigation computer system based on DSP and FPGA was designed. At first, the overall structure of the navigation computer system was demonstrated. The navigation computer hardware module was consists of two sub modules i.e., the navigation information processing sub module, and the data acquisition and communication sub module. Secondly,Kalman integrated filter scheme was designed and then system software work flow was introduced. Finally, the prototype verified experiment was made. The experimental results showed that the system can effectively accomplish the missions of navigation sensor data acquisition, real-time navigation solution, running of Kalman filter algorithm and peripheral equipment instruction fetch. The requirements of the navigation computer for SINS/GPS integrated navigation system can be totally met. Index Terms—integrated navigation, embedded computer,SINS, GPS, Kalman filter I. INTRODUCTION The SING/GPS integrated navigation system [1], [2]consists of strap down inertial navigation system (SINS)[3] and global positioning system (GPS) [4]. The navigation computer is an integrated navigation system serves two functions (a) to complete a large number of real-time data processing operations, e.g., inertial measurement unit (IMU) raw data preprocessing, GPS receiver message preprocessing, inertial navigation solution and integrated filtering operation; (b) to complete the task of data communication with external navigation sensors and navigation application equipments,e.g., acquisition of raw data of gyroscope, accelerometer and other inertial sensors and GPS receiver message,command reading of navigation application equipments and output o