开源项目DSP_INS是一个基于TI-DSP平台TMS320F28335的带有MEMS惯性传感器和商用GPS模块的惯性导航系统。
The open source project DSP_INS is an inertial navigation system on the TI DSP platform TMS320F28335 with MEMS inertial sensors and commercial GPS module.
惯性传感器实际上只用于估计姿态、航向和速度。
Inertial sensors are actually used only for estimating attitude, heading and velocity.
位置信息完全来自GPS（见FAQ的Q2）。
Position information totally comes from GPS (see Q2 in FAQ part).
目前支持MEMS惯性测量单元ADIS16355和GPS模块u-blox LEA-5H。
Currently the MEMS IMU (Inertial Measurement Unit) ADIS16355 and GPS module u-blox LEA-5H are supported.
DSP_INS还能够从霍尼韦尔HMC1051/1052读取磁场数据。
DSP_INS also reads magnetic field data from HONEYWELL HMC1051/1052.
您还可以使用最新的IMU模块ADIS16405，该模块也包含磁场传感器。
You can also use the latest IMU module ADIS16405, which also contains magnetic field sensors.
在DSP_INS中，有一个以角速度、加速度、磁场和GPS速度为输入的10阶扩展卡尔曼滤波器。
There is a 10-order extended Kalman filter in DSP_INS, which takes angular velocity, acceleration, magnetic field, and GPS velocity as inputs.
它以每10毫秒的频率提供包括角速度、加速度、姿态、航向、速度和位置（来自GPS）的输出。
It provides outputs including angular velocity, acceleration, attitude, heading, velocity, and position (from GPS) every 10 milliseconds.
在多个机器人和无人机项目中，DSP_INS被证明是有效和可靠的。
DSP_INS is proved to be effective and reliable in several robot and UAV projects.
DSP_INS的软件是免费的。
The software part of DSP_INS is free software.
还提供了硬件PCB设计文件（Protel DXP 2004）。
The hardware PCB design files (Protel DXP 2004) are also provided.
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