Data Synchronization and Fusion Method in MIMU/GPS Integrated Navigation System
Liye Zhao · Journal of Chinese Inertial Technology · 2004
This paper introduces the data synchronization and fusion method in MIMU/GPS integrated navigation system based on digital signal processor. Using the 1PPS signal from GPS receiver and combining the time sequence produced by CPLD, the system realizes the synchronal data collection of MIMU and GPS. Because of the difficulty of presenting the system noise accurately, a fuzzy adaptive Kalman filtering algorithm is adopted to fuse the data from different sensors. The paper also briefly introduces the realization of DSP program in computer simulation and debugging process.