摘要由于近代导航理论及技术的发展，组合导航系统逐渐成为现代导航系统的主要发展方向之一。捷联惯性导航系统(Strap-down Inertial Navigation System，SINS)与全球卫星定位系统(GPS)组成的SINS/GPS组合导航系统，可以利用多种信息资源，相互补充，不但保留了各自导航优点，还弥补了诸如SINS系统导航参数误差随时间的增长而发散，长期工作精度得不到保证，GPS会因障碍物而中断的缺点。从而使得导航精度提高，更好的满足载体对导航系统的要求。63541

本文针对卫星/惯性组合定位设备中的数据采集系统进行设计，以MSP430单片机为控制器，完成了数据采集系统的软硬件设计。本文中所设计的电路模块主要包括MSP430最小系统，I/V转换电路，AD转换模块，RS-232通信模块，串口扩展模块，GPS接收机。通过C语言编程控制单片机，本系统可以100Hz的采样频率对电流输出的加速度计进行A/D转换并采集数据，可接收卫星定位接收机输出数据，并通过串口将采集到的数据，上传给上位机。对于系统A/D转换模块，通过以平均数作为采样点输出的算法，系统有效分辨率可得到相应提高。经相关实验测试，系统有效分辨率可达16位。

毕业论文关键词：GPS/SINS组合定位，数据采集系统，AD7606，UART，MSP430

毕业设计说明书（论文）外文摘要

Title A data acquisition System Design for satellite / inertial positioning device

Abstract

With the development of modern navigation theory and technology, integrated navigation system has become one of the main development direction of Modern navigation system. SINS/GPS integrated navigation system composed by Strap-down Inertial Navigation System and GPS can use a variety of information resources and complement each other. Which is not only keep their own merits, but also remedy some shortcomings. For example, the navigation parameter of SINS system could be perging as time becomes longer, and the signal of GPS system could be interrupted while suffering the Obstacle. SINS/GPS integrated navigation system can increase the navigation accuracy and meet the requirements of the navigation system carrier much better.

A data acquisition system in SINS/GPS integrated locator device was studied in this paper. A MCU which model is MSP430 was used in the design. I finished the hardware electric circuit design of data acquisition system and completion the corresponding software debugging.The circuit modules of the data acquisition system is consisted of several parts, including MSP430 minimum system, I/V transformation circuit, A/D transformation module, RS-232 communication module, a serial expansion module and a GPS receiver.By the C language programming, the system can transform and collect the data which is exported by accelerometers at a sampling frequency of 100Hz.At the same time ,the data acquisition system  receives the information from the GPS satellites,then it transmits all the data received to PC.For A/D transformation module of the system, effective resolution of the system can be improved with the output of average sampling points. Effective resolution can be 16 bits in relevant test.

Keywords： SINS/GPS integrated navigation system, data acquisition system, AD7606，UART，MSP430

1 绪论 1

1.1 研究的意义与背景 1

1.2 国内外研究情况 2

1.2.1 GPS/SINS组合定位发展研究概况 2

1.2.2 数据采集系统的发展与现状 3

1.2.3 模数转换技术 3

1.3 研究主要内容 4

2 数据采集系统总体方案设计