MINS/GPS组合导航系统的设计与实现

type of MINS/GPS integrated navigation system was designed, and the engineering prototypes were produced. The micro-machined gyroscopes and micro-machined accelerometers of the system were manufactured by a domestic MEMS processing line. Two stages temperature control method is used to maintain the temperature precisely. One DSP is used in data acquisition of inertial sensors, while the other DSP is used in navigation computation. A FPGA is used to send and receive data. “Dual DSP + FPGA” architecture makes the system compact. Strapdown inertial navigation system algorithm is the two-interval optimum algorithm, and INS/GPS integrated navigation is realized with square-root Kalman filter and feedback correction. Static test and vehicle test results show that the performance of the MINS/GPS integrated navigation system satisfies the application demand, and the engineering application of domestic micro-machined gyroscope and accelerometer is realized preliminarily.