An ultra-tightly coupled microsystem and method based on zynq-7020

Abstract

The invention discloses a Zynq-7020-based ultra-tight coupling microsystem and a navigation method. The system includes GNSS positioning and navigation module, micro-inertial navigation module, integrated navigation module based on Zynq-7020 platform, power supply module and host computer communication module. The method is: the micro-inertial navigation module provides the calculated position and velocity information of the carrier, and calculates the pseudo-range and pseudo-range rate of the carrier according to the ephemeris information of the satellite; the GNSS positioning and navigation module directly calculates the pseudo-range and pseudo-range rate ;The calculated pseudo-range and pseudo-range rate are made a difference, and used as measurement information to filter in the Kalman filter, and finally the error information of the carrier position, velocity and attitude is fed back to the system for correction, and the final navigation information is obtained , and monitor and display real-time navigation information through the host computer communication module. The invention is suitable for high dynamic navigation scenes and has strong anti-interference ability in different environments.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a Zynq-7020-based ultra-tight coupling microsystem and method. Background technique [0002] The navigation performance of the GNSS navigation system is severely degraded when the signal is interfered or blocked by urban canyons; the inertial navigation system is limited by its principle, and the navigation error diverges over time. The ultra-tight coupling system of GNSS and SINS can improve the alignment accuracy of the SINS system and reduce the divergence of its navigation results. At the same time, SINS can enhance the ability of GNSS to capture signals and track satellites, improve the dynamic characteristics and anti-interference characteristics of the receiver, thereby improving The precision and reliability of the entire integrated navigation system. [0003] At present, the GNSS / SINS ultra-compact integrated navigation system combines the advantages of sa...

AI Technical Summary

Problems solved by technology

However, most of the existing research adopts the mode of "receiver + MIMU + integrated navigation", and each module is independently processed by different chips, which leads to large system size and power consumption, and complicated information interaction of each module

In addition, in high dynamic, weak signal, signal interference and other working environments, the carrier may face situations such as loss of satellite signal lock, making the ultra-tight integrated navigation system unable to work normally

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