【摘要】 利用ARM系列微处理器S3C44B0X和多片TI公司的DSP芯片TMS320VC33,设计了针对MIMU/GPS组合导航系统的微型导航计算机。首先介绍了系统的硬件设计方案,为提高系统的可靠性,运算模块和A/D转换模块设计为三模冗余结构,其次,给出了系统的数据融合方法,为有效抑制系统观测数据中的野值,设计了基于SVR的抗野值Kalman滤波器。测试结果证明该设计不仅保证了组合导航系统的精度,而且提高了导航计算机的可靠性和抗干扰性。更多还原

【Abstract】 A new kind of navigation computer is de-signed for the MIMU/GPS integrated navigation system. The computer has one ARM microprocessor —— S3C44BOX and several chips of digital signal processors named TMS320VC33. Firstly, The hardware structure is described. The computation module and the ana-log/digital converter module are designed as tri-ple-modular redundancy architecture to improve the re-liability. Secondly, the method of data fusion is discussed in detail. A new Kalman filter based on support vector regression(SVR) is presented to retain the outliers. The experimentation results show that this design can assure reliability and precision.更多还原