KEYWORDS: Sensors, Digital signal processing, Navigation systems, Microelectromechanical systems, Field programmable gate arrays, Signal processing, Temperature metrology, Unmanned vehicles, Gyroscopes, Global Positioning System
A common miniature environment-insensitive navigation module which not only can provide the accurate
position through different environment but also can easily be configured to adapt to the different type of
unmanned vehicles is proposed in this paper. The module prototype is composed of a integrated MEMS
inertial navigation unit using MEMS accelerometers and gyroscopes, a hard aluminum module structure
with rubber isolator, a series of sensor interface of magnetometer, embedded GPS receiver, infrared sensor,
vision camera, radio frequency communication etc and a FPGA based central control and navigation
calculation circuit. The fabricated MEMS accelerometers and gyroscopes can resist high-g shock and have
temperature drift compensation. The structure of the module uses hard aluminum with finite element
analysis to find the appropriate position for sensors. All sensors without antenna are packaged in the
structure with moisture, heat isolation and rubber isolator. The navigation computation scheme use the
status of connected sensors to choose appropriate algorithm function to compute the navigation output.
FPGA is used to be the main control and process unit of this module. Algorithms are embedded in the
FPGA using the DSP core. The multiply interfaces to other sensor are implemented using the flexible
configuration of the FPGA and peripheral. The conclusions are reached at last.
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