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DESIGN & REALIZATION ON GPS/INS INTEGRATED navigation SYSTEM

Transactions of Nanjing University of Aeronautics and Astronautics 1998年第2期15卷 14-20页

作者：刘建业孙永荣何秀凤袁信南京航空航天大学自动控制系

This paper deals with the research of the GPS/INS integrated navigation system applying Extended Kalman Filter, which involves integrated principles, scheme and technology of combining with real INS and GPS receiver data. Emphases are placed on the modeling of system errors and implementation of the integrated system. Both loose and tightly coupled GPS/INS integrated in schemes are analyzed. On the basis of our experience accumulated in the research of GPS/INS for many years, the GPS/INS integrated navigation developing system is developed. It can be put into efficient and economic use in the study and design of integrated navigation system. It plays an important role in the aeronautical and astronautical fields in China. This system is not only a computer aided design software but also a semi physical simulation system by obtaining real INS and GPS receiver data. So the key software unit of the developing system could be conveniently transferred into practical engineering software in actual hardware integrated system. The application of this system shows that the design ideas and integrated scheme of this development system are successful, and can achieve good navigation result.

关键词： integrated navigation system inertial navigation Kalman filter navigation computer GPS

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Design and Optimization of Strapdown Fiber Optic Gyro Compass System

Design and Optimization of Strapdown Fiber Optic Gyro Compas...

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第43届中国控制会议

作者： Jinyue Zhao Kunpeng He Le Kang Xiangdong Wang College of Artificial Intelligence Nankai University

In order to meet the requirements of the SINS navigation system,including high accuracy,low power consumption,and miniaturization,an embedded navigation computer system based on DSP and FPGA has been *** overall structure of the navigation computer system is initially described,and a comprehensive design plan for the navigation computer hardware is proposed,encompassing the navigation information processing module and the data acquisition and communication *** principle of initial alignment for the strapdown gyrocompass is then studied and analyzed,and the gyrocompass alignment technology is investigated based on the compass loop.A specific implementation algorithm is subsequently ***,the design includes a three-axis swing test and a sea alignment *** effectiveness of the proposed scheme is verified through the sea alignment test plan,where GPS position and log velocity are utilized to assist in the alignment process.

关键词： navigation computer DSP FPGA Gyrocompass Self-alignment Sea Trials

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