Design and Implementation of Small Navigation System on Land Vehicle
This paper is focused on the problem of frame loss and truncation on multi-channel universal asynchronous receiver transmitter (UAKT) embedded in Integrated Navigation Systems, and it contains attitude heading reference system (AHRS) and global positioning system (GPS). An advanced design based on FPGA and ARM processor is discussed in this paper, in which FPGA would be used to coordinate with each logic modules, expand UART for GPS and AHRS, resolve navigation information, and save specify data to SD card, which can reduce the delay in data receiving and resolving, while ARM is applied in the area of parameters estimation and navigation algorithms. The experiment results show that this navigation system can use UART to receive, resolve data frames and save data while ARM execute parameter estimation and navigation algorithms in real time. This integrated navigation can effectively avoid the phenomenon of data frame loss or truncation in UART receiving, and can improve the navigation precision.
GPS/AHRS Integrate Navigation FPGA ARM Parameter Resolve Autonomous Navigation
Shuaiqi Ma Zhongke Shi Shuaiqi Ma
School of Automation Northwestern Polytechnical University Xian, 710129, China Department of Electrical Engineering Shannxi University of Technology Hanzhong, 723003, China
国际会议
海口
英文
298-302
2011-02-22（万方平台首次上网日期，不代表论文的发表时间）