Design of multi-sensor integrated navigation system based on Cortex-M4

YANG Huan; XIONG Jian; GUO Hang; ZHONG Wei-sheng

doi:10.13873/J.1000-9787(2017)02-0088-03

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Design of multi-sensor integrated navigation system based on Cortex-M4

更新时间：2025-09-11

- Design of multi-sensor integrated navigation system based on Cortex-M4
- Vol. 36, Issue 2, Pages: 88-90+93(2017)
- 作者机构：
  
  1. 南昌大学机电工程学院
  2. 南昌大学信息工程学院测控教研室
  3. 南昌大学空间科学与技术研究院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2017)02-0088-03
  CLC： TN967.2
- Published：2017
- 稿件说明：
移动端阅览
[1]杨欢,熊剑,郭杭,衷卫声.基于Cortex-M4的多传感器组合导航系统设计[J].传感器与微系统,2017,36(02):88-90+93.

YANG Huan, XIONG Jian, GUO Hang, et al. Design of multi-sensor integrated navigation system based on Cortex-M4[J]. 2017, 36(2): 88-90+93.
[1]杨欢,熊剑,郭杭,衷卫声.基于Cortex-M4的多传感器组合导航系统设计[J].传感器与微系统,2017,36(02):88-90+93. DOI： 10.13873/J.1000-9787(2017)02-0088-03.

YANG Huan, XIONG Jian, GUO Hang, et al. Design of multi-sensor integrated navigation system based on Cortex-M4[J]. 2017, 36(2): 88-90+93. DOI： 10.13873/J.1000-9787(2017)02-0088-03.

摘要

针对移动机器人导航定位需求

设计了一种低成本、便携式的多传感器组合导航系统。采用ARM Cortex—M4内核的STM32F407处理器为电路核心

利用微惯性测量单元（MIMU）、全球卫星定位系统（GPS）以及电子罗盘作为导航数据源

进行了相关的硬件设计;采用移动导航平台进行实验验证

通过实测数据进行分析

结果表明:该组合导航系统可以有效提高导航精度

使其导航定位经纬度误差稳定在1.0 m左右

航向角误差稳定在0.8°以内

对移动机器人导航有一定的参考价值。

Abstract

In view of demand for navigation and positioning of mobile robot

a low cost and portable multi-sensor integrated navigation system is designed. The design uses the processor named STM32F407

whose kernel is ARM Cortex-M4

as the core of the hardware circuit. The system uses micro inertial measurement unit（ MIMU）

global positioning system（ GPS） and electronic compass as navigation data source

and hardware design is carried out.Experimental verification is performed with mobile navigation platform

and experimental data is analyzed

the results show that the integrated navigation system can effectively improve the navigation precision

and manages to stable the navigation and positioning error of latitude and longitude at about 1. 0 m

also heading angle error is stable within 0. 8°

it has certain reference value for mobile robot navigation.

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references

一种弹道导弹捷联惯导/地磁组合导航方法 [J]. 李镇,王海涌,靳宇航,秦天沐,李晶津,高自谦. 中国惯性技术学报 . 2015(05)

MIMU/GPS组合导航系统小型化设计 [J]. 包超,郭美凤,周斌,刘刚. 传感器与微系统 . 2014(01)

基于ARM的移动机器人组合导航系统设计与实现 [J]. 曹超,马磊,赵舵,李应. 传感器与微系统 . 2013(02)

MIMU/GPS/磁力计单兵系统组合导航技术研究 [D]. 刘峰丽. 哈尔滨工程大学 2013

A Quaternion Scaled Unscented Kalman Estimator for Inertial Navigation States Determination Using INS/GPS/Magnetometer Fusion [J] . Wassim Khoder,Bassem Jida. Journal of Sensor Technology . 2014 (02)

Amplified wavelet-ANFIS-based model for GPS/INS integration to enhance vehicular navigation system [J] . A. El-Shafie,A. Najah,O. A. Karim. Neural Computing and Applications . 2014 (7-8)

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