基于DSP的组合导航系统研究

【作者】 刘芳；

【导师】 徐志良；

【作者基本信息】 南京理工大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 将两种或多种导航系统组合起来成为一个综合系统，其导航性能比单一的导航系统好，因此组合导航系统目前已成为导航系统的主要发展方向之一。现代控制理论的成就，特别是最优估计理论的数据处理方法，为组合导航系统提供了理论基础。本文首先对捷联式惯性导航系统(SINS)、全球定位导航系统(GPS)和磁阻／加速度计测姿系统进行了认真地分析，在此基础上对组合导航技术进行了研究；其次本文介绍了组合导航系统的硬件和软件的设计，对组合导航系统的工程实现做了详细说明，硬件上设计了以单片机为核心的数据采集系统和以DSP为核心的数据处理系统，软件则上用卡尔曼滤波器实现了组合导航系统的信息融合；最后，在所设计的组合导航系统上进行了实验和测试。实验的结果表明，组合导航系统的性能比单一的导航系统有了较大的改善。更多还原

【Abstract】 The integrated navigation system has been among the main trends of the navigation system development because of its much better performance compared with the single navigation system. The achievements on the theory in the modem control field, especially the data processing manners of optimizing estimation theory have provided the basis for the realization of the integrated navigation system.This paper presents research of the strap-down inertial navigation system, the global position system and the magnetoresisitive sensors/accelerometer attitude determination system separately, and then discusses the integrated navigation system. Then it discusses both hardware and software designs of the integrated navigation system, it also makes a particular description on the implementation of the integrated navigation system. The hardware design contains the data sampling system based on MCU and the data processing system based on DSP, and the software design uses the kalman filter to implement the information fusions of the integrated navigation system. In addition, some experiments are executed in the paper, the results indicate that the performance of the integrated navigation system is much better than the single navigation system.更多还原