SoC loosely Coupled Navigation Algorithm Evaluation via 6-DOF Flight Simulation Model of Guided Bomb

摘要

Accurate positioning is required to achieve accurate navigation solution of moving objects therefore, inertial navigation system (INS) and global positioning system (GPS) are combined together to give a good solution in solving positioning problem and overcoming the problem of using each system separately. The motivation behind this work in this paper is to model and evaluate an INS/GPS integration algorithm model within 6-DOF flight simulation model by using loosely coupled integration technique and extended kalman filter (EKF) Algorithms to enhance and solve the position and attitude angles problems. Then, it is implemented on embedded microcontroller system (TM4C123GH6PM ARM Cortex-M4) using low-cost commercial sensors (MPU-6050 and GPS). Finally, the Navigation model is evaluated within 6-DOF simulation model using Processor-in-Loop (PIL) method. The system can realize comparable navigation accuracy with other high performance navigation system.