Research on Ultra-tightly coupled Integrated Navigation Method Based on ZYNQ-7020

Juhao Tan, Shuai Chen, Chen Wang

For conventional loosely coupled Integrated and tightly coupled Integrated, when the number of satellites is less than 4, there may be cases where positioning is impossible. Besides, market demand for miniaturization of navigation products. This paper overcomes the above shortcomings with the ultra-tightly coupled integrated method of Zynq-7020 as the platform. The paper Introduces the software scheme, the hardware scheme, the ultra-tightly coupled integrated mathematical model and filtering fusion algorithm in detail. In addition, a multi-channel SINS assisted fast frame synchronization algorithm is added to quickly recapture and track satellite signals. Finally, the feasibility and reliability of the design scheme are verified by high dynamic simulator test and vehicle test.