弹载SINS/GPS组合导航系统数据采集与同步设计

For the SINS/GPS integrated navigation system, because the data from the two navigation systems are not synchronized in time, the navigation accuracy was reduced under the high dynamic environment of the missile. A small embedded integrated navigation computer platform based on FPGA+DSP was designed. The 1PPS pulse provided by the GPS receiver was simultaneously connected to the FPGA and the DSP to provide a time reference. The FPGA was used to realize the synchronous acquisition of the MIMU and the GPS data at the second time, and the DSP was used to realize the calculation of the synchronization time difference and the extrapolation fitting of the GPS data, synchronization of SINS and GPS data at the moment of information fusion. The time synchronization process was simple and the synchronization accuracy was high.In order to verify the effectiveness of the method, the vehicle experiment was carried out on the system. The test results show that the method adopted by the system can effectively improve the accuracy of the combined navigation system under high dynamics, and compare the navigation results without time synchronization. The method is at the attitude angle and the speed accuracy is improved by about 70%, the positional accuracy is improved by about 50%, and it has certain engineering application value.