Design of SINS/GPS integrated navigation system based on dual NiosII soft-core

摘要

As an advanced integrated navigation system with excellent performance, the SINS/GPS system combines the advantages of strap-down inertial navigation system (SINS) and global positioning system (GPS) respectively. A new architecture of the SINS/GPS system is implemented on SOPC platform with dual NiosII soft-core, which is proposed as an alternative of the conventional implementation with FPGA plus DSP. The two NiosII soft-core, One CPU core is utilized for the central control, data acquisition and off-chip communication with the host computer, another core is for the implementation of real-time navigation. Moreover, the Kaiman filter is implemented as a specific IP embedded into the on-chip system, which possesses a higher efficiency than the conventional method by using C program on DSP. As a hardware filter, it's independent of NiosII. The experimental results show both excellent efficiency and real-time quality of the implemented system. Consequently, the proposed architecture with conspicuous advantages is more feasible and has a reduced resource usage, compared with the conventional method.