Development of multisensor integrated navigation system based on distributed multiprocessor

Due to the requirement of huge computation and real-time communication for integrated navigation system, a new scheme of distributed multiprocessor is introduced. The Control and communication of integrated system is completed by PC104, while navigation algorithm and integrated algorithm is realized by DSP. According to the error models of inertial navigation system, a tightly coupled integrated navigation algorithm used Unscented Kalman filter is proposed to fuse the information from all of the sensors. Finally, the test results show the integrated system has good real-time performance and high accuracy.