Design of multi-sensors integrated navigation system

In order to meet the requirement of high-compact and hard-real-time outdoor navigation system, to solve the problem of invalid satellite navigation during GPS-denied period, a multi-sensors integrated navigation system is designed in this study. The system is fused with accelerometer, gyroscope, satellite receiver, binocular vision camera and barometer. The Kalman Filter, which is designed for model error estimation, fuses sensors to optimize and correct the inertial navigation error. This system is designed based on programmable SoC ZYNQ7000 which embed dual-core ARM in FPGA. One core is used for image processing and binocular vision navigation, the other is used for strapdown inertial and integrated navigation. Sensors drive control and DMA data transmission are accomplished by FPGA. Finally, an outdoor car test, which ran in high-building urban environment, verified that this integrated navigation system works stably and can be significantly applicable to real engineering project.