School of Instrument Science and Engineering, Southeast University, Nanjing, China; Key Laboratory of Micro Inertial Instrument and Advanced Navigation Technology, Ministry of Education, China

---

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

[PDF]

Cite: Jie Yan and Xiaosu Xu, " Design and Experiment of SINS/GPS Integrated Navigation System," Journal of Computers vol. 8, no. 8, pp. 1973-1978, 2013.