基于高性能DSP的小型组合导航系统设计与实现  

Design and realization of small integrated navigation system based on high-performance DSP

作　　者：曾庆双[1] 蒋蔚[1] 伊国兴[1] 

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001

出　　处：《哈尔滨商业大学学报（自然科学版）》2010年第4期475-479,共5页Journal of Harbin University of Commerce：Natural Sciences Edition

摘　　要：提出了一种利用微小型惯性测量单元(MIMU)、全球定位系统(GPS)以及三轴磁强计(TAM)所构成的小型组合导航系统设计方案.分别介绍了导航传感器的选择及系统的结构.设计了以TI高性能浮点DSP处理器为核心的导航计算机,完成数据采集和导航解算等功能,并根据导航系统误差模型融合各传感器信息,实现了基于Kalman滤波器的组合导航算法.通过原理样机的实测数据验证了方案的可行性.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.The choice of these sensors and the structure of system are introduced respectively.Then the navigation computer,which uses TI high-performance floating-point DSP 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.The prototype test results are presented to show the feasibility of the system.

关 键 词：组合导航 卡尔曼滤波器 数字信号处理器 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]