Research on multi-sensor integrated navigation system based on double CPU

BIAN De-fei; XIONG Zhi; LIU Jian-ye

doi:10.13873/j.1000-97872007.08.034

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Research on multi-sensor integrated navigation system based on double CPU

更新时间：2025-09-11

- Research on multi-sensor integrated navigation system based on double CPU
- Issue 8, Pages: 51-54(2007)
- 作者机构：
  
  1. 南京航空航天大学自动化学院
  2. 南京航空航天大学自动化学院,江苏,南京,210016
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.08.034
  CLC： V249.328
- Published：2007
- 稿件说明：
移动端阅览
[1]边德飞,熊智,刘建业.基于双CPU的多传感器组合导航系统研究[J].传感器与微系统,2007(08):51-54.

BIAN De-fei, XIONG Zhi, LIU Jian-ye. Research on multi-sensor integrated navigation system based on double CPU[J]. 2007, (8): 51-54.
[1]边德飞,熊智,刘建业.基于双CPU的多传感器组合导航系统研究[J].传感器与微系统,2007(08):51-54. DOI： 10.13873/j.1000-97872007.08.034.

BIAN De-fei, XIONG Zhi, LIU Jian-ye. Research on multi-sensor integrated navigation system based on double CPU[J]. 2007, (8): 51-54. DOI： 10.13873/j.1000-97872007.08.034.

摘要

以单片机+DSP双CPU导航计算机构成的嵌入式硬件平台为基础

开展了磁航向辅助的捷联惯导/GPS组合导航系统的研究。采用八位置标定算法消除环境磁场对磁航向计的干扰

提高输出精度;多传感器的信息融合采用低阶卡尔曼滤波器

以满足导航系统导航精度和实时性的要求。针对双CPU导航计算机的特殊结构

设计出了整个导航程序时序控制流程

以实现多传感器数据采集的同步性和实时性。给出了数据采集周期和导航解算周期的时序控制以及双CPU之间的实时数据通信的实现流程

最后

通过实物联调验证了该方案设计是完全可行的。

Abstract

Taking the embedded hardware platform composed of the double CPU（MCU+DSP） navigation computer as a foundation

the research of SINS/GPS integrated navigation system aided by magnetic course is carried out.Eight positions calibrating algorithm is used for magnetic course to eliminate environment disturb and improve the output precision.Low-order Kalman filter used for information fusion can satisfy navigation system accuracy and real-time request.In view of the double CPU navigation-computer special structure

in order to realize the multi-sensors data acquisition synchronism and timeliness

The entire navigation procedure sequential control flow is designed.The sequential control between data collected cycle and navigation resolving cycle

and the real-time data communication flow between the two central processing units（CPU） are introduced.Finally the entity experiment shows that the program is feasible absolutely.

关键词

Keywords

references

HPI的原理及其在DSP与单片机接口中的应用 [J]. 金颖锋,施文康. 微处理机 . 2003(04)

基于DSP和单片机的双CPU导航计算机设计 [J]. 薛志宏,刘建业. 电子产品世界 . 2003(08)

Design of a low-cost attitude determination GPS/INS integrated navigation system [J] . Dong-Hwan Hwang,Sang Heon Oh,Sang Jeong Lee,Chansik Park,Chris Rizos. GPS Solutions . 2005 (4)

Application of DSP Controller on X–Y Table Servo Control [J] . S.-J. Huang,M.-H. Shieh. International Journal of Advanced Manufacturing Technology . 2000 (3)

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