摘要基于 SHARC 型 DSP 的微小型组合导航系统由嵌入式硬件平台和组合导航解算软件 构成，可以为载体提供航向、水平姿态和位置信息。目前采用多传感器数据融合的微小 型组合导航系统，被广泛的应用于机动车辆与无人机、工业设备、摄像与天线云台、地 面及水下设备、虚拟现实以及生命运动科学分析等需要三维姿态测量和位置定位的产品 中。69396

本文以地面无人载体为应用背景，在调研组合导航技术和卡尔曼滤波技术发展现状 的基础上，对微小型组合导航系统算法进行了深入研究。首先阐述了四元数法，利用该 方法进行姿态解算更新；分析了卡尔曼滤波，通过 MEMS 惯性传感器和磁强计、卫星定 位单元的组合，设计相应的滤波算法。开展了纯惯导和组合导航算法的设计，通过对比 仿真，了解组合导航的优势，组合后系统的误差大大缩小，精度显著提高。在此基础上， 将上述组合导航算法进行软件设计，并下载到 ADSP-21489 开发板上进行了实验验证。

毕业论文关键词 MEMS 组合导航 卡尔曼滤波 姿态解算 DSP

毕 业 设 计 说 明 书 外 文 摘 要

Title Algorithm Implementation of Integrated Navigation based on DSP SHARC® processor

Abstract

Miniature integrated navigation system based on DSP SHARC® processor is composed of the embedded hardware platform and the combination of navigation calculating software, which can provide course, the horizontal posture and position information for supporter. At present, Miniature integrated navigation system with Multi-Sensor data fusion ,is widely used in products like motor vehicles and unmanned aerial vehicle (UAV), industrial equipment, camera and antenna holder, ground and underwater equipment, virtual reality, life sports science analysis and so on ,which need 3D attitude and position measurement.

This paper makes a deep research on miniature integrated navigation system algorithm based on unmanned ground vehicle, and investigates integrated navigation system technology and kalman filter technology. First, quaternion method is expounded and used in the attitude updating algorithms. Then, Kalman filter are analyzed. the corresponding filter algorithm is designed through the combination of the MEMS inertial sensors, geomagnetic sensors and GPS unit. The designed algorithms of pure inertial navigation and integrated navigation are compared and emulated to learn the advantages of integrated navigation system, which has smaller error and higher precision. On this basis, integrated navigation algorithm is designed to be a software, which is downloaded on ADSP-21489 to test and verify.

Keywords  MEMS  integrated navigation  kalman filter  Attitude algorithm  DSP

本科毕业设计说明书 第 I 页

目 次

1 引言 1

1.1 课题研究背景和意义 1

1.2 国内外研究现状 1

1.2.1 国内外微小型组合导航技术发展现状和水平 1

1.2.2 国内外卡尔曼滤波理论及算法的发展现状和水平 3

1.3 本文主要研究内容