Design and realization of small integrated navigation system based on MIMU/GPS/TAM

Abstract

In this paper, a new scheme of small integrated navigation system based on Micro Inertial Measurement Unit (MIMU), Global Position System (GPS) and Three-Axis Magnetometer (TAM) is presented. First the choice of these sensors and the structure of system are introduced respectively. Then the navigation computer, which uses TI high-performance floating-point nsp as core processor, is designed to realize both the data collecting and the navigation calculating. According to the error models of inertial navigation system, an integrated navigation algorithm used Kalman filter is proposed to fuse the information from all of the sensors. Finally, the prototype test results are presented to show the feasibility of the system.

Comparison of a sensor fusion algorithm implementation on a C674X DSP and a Cortex A8 core

“…In [10] multi sensor fusion based on Kalman filtering for a gyroscope, accelerometer, magnetometer and GPS based platform is computed on a 225 MHz TI TMS320C6713 floating point DSP. The inertial sensors (gyroscope, accelerometer, and magnetometer) are sampled at 2 kHz, while attitude orientation estimations are updated at 100 Hz.…”

“…In contrast to the sensor fusion hardware platforms presented in the above mentioned approaches [9,10,11,12], the goal of the hardware platform presented in this paper is to perform sensor fusion and sonification application execution within a limited power budget. Therefore, the use of a single processing core, either DSP or RISC, is desired.…”

A Design of MIMU/GPS Integrated Navigation System

“…The algorithm of MIMU-based inertial navigation system (INS) uses the principle of dead reckoning, Integral operations rapid accumulate the navigation error, and thus unable to meet the requirements of high-precision navigation system indicators work long hours. [2] The integrated navigation is an effective way to solve this SINS navigation problem. GPS (Global Positioning System) provides global, round-the-clock high-precision navigation and positioning information.…”

Based on DSP Temperature Control System Design

“…At present, most of the environmental control systems are based on single-chip control, but the processor is running slowly, and difficult to implement complex control algorithms. With the continuous development and application of DSP technology, it will gradually become the mainstream of the control field [1,2].…”