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GPS (global position system)/SINS (ship's inertial navigation system) integrated navigation system time synchronization method

An integrated navigation system and time synchronization technology, applied in the field of integrated navigation, can solve the problems of not considering the delay time of GPS data communication, limiting the synchronization accuracy and real-time performance, etc.

Inactive Publication Date: 2016-11-23
SHAANXI BAOCHENG AVIATION INSTR
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Problems solved by technology

But these two methods do not consider the delay time of GPS data communication, which limits the synchronization accuracy and real-time performance, so it is necessary to propose an improvement

Method used

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  • GPS (global position system)/SINS (ship's inertial navigation system) integrated navigation system time synchronization method
  • GPS (global position system)/SINS (ship's inertial navigation system) integrated navigation system time synchronization method

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Embodiment Construction

[0019] Attached below figure 1 , 2 Describe an embodiment of the present invention: a GPS / SINS integrated navigation system time synchronization method,

[0020] 1) Take the 1PPS second pulse of the GPS receiver as the time synchronization reference, and take the FPGA system clock T B As a time base standard, frequency division generates IMU sampling clock T s , through the counter 1 in the FPGA to count the number of IMU sampling times, to realize the synchronization of IMU data sampling and 1PPS, that is, to realize the synchronization of IMU and GPS data. Specifically, based on the 1PPS second pulse of the GPS receiver, in the FPGA, through the hardware Description language Verilog HDL frequency division generates periodic signal T with a period of 1 second and a duty cycle of 50%. 1s , wherein, adopt FPGA device to realize time synchronization hardware circuit, adopt DSP to carry out software synchronization, DSP reads IMU acquisition data and GPS data through EMIF inte...

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Abstract

The invention provides a GPS (global position system) / SINS (ship's inertial navigation system) integrated navigation system time synchronization method with an aim to solve the problem that data time synchronization from two subsystems must be guaranteed when GPS / SINS integrated navigation system data are fused. The method is high in time synchronization, good in timeliness and capable of eliminating errors caused by time desynchrony when different data sources are fused, and optimal estimated values of stable variables of postures, speed, positions and the like of the integrated navigation system are increased.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to a time synchronization method for a GPS / SINS integrated navigation system. Background technique [0002] The GPS / SINS integrated navigation system can provide high-precision navigation data for a long time. By fusing the output data of the two navigation systems, it can make up for the shortcomings of inertial navigation error accumulation and GPS navigation being limited by the environment. When performing data fusion, it must be ensured that the data received from the IMU and the GPS receiver are synchronized in time. Therefore, solving the time synchronization of data from two different subsystems is very important for the design of GPS / SINS integrated navigation system. GPS and SINS are two different subsystems. The IMU in SINS has a dedicated clock, but due to the influence of temperature characteristics and other factors during the navigation pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G01C21/16G04R20/02
CPCG01S19/47G01C21/165G04R20/02
Inventor 刘玉霞关维周王新张鹏
Owner SHAANXI BAOCHENG AVIATION INSTR
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