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. Inertial sensors are actually used only for estimating attitude, heading and velocity. Position information totally comes from GPS (see Q2 in FAQ part). Currently the MEMS IMU (Inertial Measurement Unit) ADIS16355 and GPS module u-blox LEA-5Hare supported. DSP_INS also reads magnetic field data from HONEYWELL HMC1051/1052.You can also use the latest IMU module ADIS16405, which also contains magnetic field sensors.There is a 10-order extended Kalman filter in DSP_INS, which takes angular velocity,acceleration, magnetic field, and GPS velocity as inputs. It provides outputs including angular velocity, acceleration, attitude, heading, velocity, and position (from GPS) every 10 milliseconds. DSP_INS is proved to be effective and reliable in several robot and UAV projects.




File list:
DSP_INS_1.0
..........\dsp
..........\...\DSP2833x_common
..........\...\...............\cmd
..........\...\...............\...\28335_FLASH_lnk_XINTF.cmd
..........\...\...............\...\28335_RAM_lnk.cmd
..........\...\...............\...\28335_RAM_lnk_XINTF.cmd
..........\...\...............\...\F28335.cmd
..........\...\...............\gel
..........\...\...............\...\f28335.gel
..........\...\...............\include
..........\...\...............\.......\DSP2833x_DefaultIsr.h
..........\...\...............\.......\DSP2833x_Dma_defines.h
..........\...\...............\.......\DSP2833x_EPwm_defines.h
..........\...\...............\.......\DSP2833x_Examples.h
..........\...\...............\.......\DSP2833x_GlobalPrototypes.h
..........\...\...............\.......\DSP2833x_I2c_defines.h
..........\...\...............\.......\DSP2833x_Project.h
..........\...\...............\.......\DSP2833x_SWPrioritizedIsrLevels.h
..........\...\...............\.......\IQmathLib.h
..........\...\...............\.......\SFO.h
..........\...\...............\.......\SFO_V5.h
..........\...\...............\lib
..........\...\...............\...\IQmath.lib
..........\...\...............\...\SFO_TI_Build.lib
..........\...\...............\...\SFO_TI_Build_fpu.lib
..........\...\...............\...\SFO_TI_Build_V5.lib
..........\...\...............\...\SFO_TI_Build_V5_fpu.lib
..........\...\...............\source
..........\...\...............\......\Debug
..........\...\...............\......\.....\DSP2833x_Adc.obj
..........\...\...............\......\.....\DSP2833x_ADC_cal.obj
..........\...\...............\......\.....\DSP2833x_CodeStartBranch.obj
..........\...\...............\......\.....\DSP2833x_CpuTimers.obj
..........\...\...............\......\.....\DSP2833x_DefaultIsr.obj
..........\...\...............\......\.....\DSP2833x_DMA.obj
..........\...\...............\......\.....\DSP2833x_ECan.obj
..........\...\...............\......\.....\DSP2833x_ECap.obj
..........\...\...............\......\.....\DSP2833x_EPwm.obj
..........\...\...............\......\.....\DSP2833x_EQep.obj
..........\...\...............\......\.....\DSP2833x_Gpio.obj
..........\...\...............\......\.....\DSP2833x_I2C.obj
..........\...\...............\......\.....\DSP2833x_Mcbsp.obj
..........\...\...............\......\.....\DSP2833x_MemCopy.obj
..........\...\...............\......\.....\DSP2833x_PieCtrl.obj
..........\...\...............\......\.....\DSP2833x_PieVect.obj
..........\...\...............\......\.....\DSP2833x_Sci.obj
..........\...\...............\......\.....\DSP2833x_Spi.obj
..........\...\...............\......\.....\DSP2833x_SWPrioritizedDefaultIsr.obj
..........\...\...............\......\.....\DSP2833x_SWPrioritizedPieVect.obj
..........\...\...............\......\.....\DSP2833x_SysCtrl.obj
..........\...\...............\......\.....\DSP2833x_usDelay.obj
..........\...\...............\......\.....\DSP2833x_Xintf.obj
..........\...\...............\......\Release
..........\...\...............\......\.......\DSP2833x_ADC_cal.obj
..........\...\...............\......\.......\DSP2833x_CodeStartBranch.obj
..........\...\...............\......\.......\DSP2833x_CpuTimers.obj
..........\...\...............\......\.......\DSP2833x_DefaultIsr.obj
..........\...\...............\......\.......\DSP2833x_MemCopy.obj
..........\...\...............\......\.......\DSP2833x_PieCtrl.obj
..........\...\...............\......\.......\DSP2833x_PieVect.obj
..........\...\...............\......\.......\DSP2833x_SysCtrl.obj
..........\...\...............\......\.......\DSP2833x_usDelay.obj
..........\...\...............\......\DSP2833x_Adc.c
..........\...\...............\......\DSP2833x_ADC_cal.asm
..........\...\...............\......\DSP2833x_CodeStartBranch.asm
..........\...\...............\......\DSP2833x_CpuTimers.c
..........\...\...............\......\DSP2833x_CSMPasswords.asm
..........\...\...............\......\DSP2833x_DBGIER.asm
..........\...\...............\......\DSP2833x_DefaultIsr.c
..........\...\...............\......\DSP2833x_DisInt.asm
..........\...\...............\......\DSP2833x_DMA.c
..........\...\...............\......\DSP2833x_ECan.c
..........\...\...............\......\DSP2833x_ECap.c
..........\...\...............\......\DSP2833x_EPwm.c
..........\...\...............\......\DSP2833x_EQep.c
..........\...\...............\......\DSP2833x_Gpio.c
..........\...\...............\......\DSP2833x_I2C.c
..........\...\...............\......\DSP2833x_Mcbsp.c
..........\...\...............\......\DSP2833x_MemCopy.c
..........\...\...............\......\DSP2833x_PieCtrl.c
..........\...\...............\......\DSP2833x_PieVect.c
..........\...\...............\......\DSP2833x_Sci.c
..........\...\...............\......\DSP2833x_Spi.c
..........\...\...............\......\DSP2833x_SWPrioritizedDefaultIsr.c
..........\...\...............\......\DSP2833x_SWPrioritizedPieVect.c
..........\...\...............\......\DSP2833x_SysCtrl.c
..........\...\...............\......\DSP2833x_usDelay.asm
..........\...\...............\......\DSP2833x_Xintf.c
..........\...\DSP2833x_headers
..........\...\................\cmd
..........\...\................\...\DSP2833x_Headers_BIOS.cmd
..........\...\................\...\DSP2833x_Headers_nonBIOS.cmd
..........\...\................\gel
..........\...\................\...\DSP2833x_Peripheral.gel
..........\...\................\include
..........\...\................\.......\DSP2833x_Adc.h
..........\...\................\.......\DSP2833x_CpuTimers.h
..........\...\................\.......\DSP2833x_DevEmu.h
..........\...\................\.......\DSP2833x_Device.h
..........\...\................\.......\DSP2833x_DMA.h
..........\...\................\.......\DSP2833x_ECan.h
..........\...\................\.......\DSP2833x_ECap.h
..........\...\................\.......\DSP2833x_EPwm.h
..........\...\................\.......\DSP2833x_EQep.h
..........\...\................\.......\DSP2833x_Gpio.h
..........\...\................\.......\DSP2833x_I2c.h
..........\...\................\.......\DSP2833x_Mcbsp.h
..........\...\................\.......\DSP2833x_PieCtrl.h
..........\...\................\.......\DSP2833x_PieVect.h
..........\...\................\.......\DSP2833x_Sci.h
..........\...\................\.......\DSP2833x_Spi.h
..........\...\................\.......\DSP2833x_SysCtrl.h
..........\...\................\.......\DSP2833x_Xintf.h
..........\...\................\.......\DSP2833x_XIntrupt.h
..........\...\................\source
..........\...\................\......\Debug
..........\...\................\......\.....\DSP2833x_GlobalVariableDefs.obj
..........\...\................\......\Release
..........\...\................\......\.......\DSP2833x_GlobalVariableDefs.obj
..........\...\................\......\DSP2833x_GlobalVariableDefs.c
..........\...\28335_FLASH_lnk_XINTF.cmd
..........\...\28335_RAM_lnk_XINTF.cmd
..........\...\DSP_INS.pjt
..........\...\DSP_SECTIONS_README
..........\...\f28335.gel
..........\hardware
..........\........\GPS_PCB
..........\........\.......\History
..........\........\.......\Project Outputs for GPS_PCB
..........\........\.......\...........................\GPS_PCB.xls
..........\........\.......\...........................\Status Report.Txt
..........\........\.......\GPS.PCB
..........\........\.......\GPS.PCB3D
..........\........\.......\GPS.PCBDOC
..........\........\.......\GPS.SCHDOC
..........\........\.......\GPS_PCB.PRJPCB
..........\........\.......\GPS_PCB.PRJPCBStructure
..........\........\.......\PcbLib_GPS.LIB
..........\........\.......\PcbLib_GPS.PcbLib
..........\........\History
..........\........\INS_ALL
..........\........\.......\History
..........\........\.......\Project Outputs for INS_ALL
..........\........\.......\...........................\INS_ALL.xls
..........\........\.......\...........................\Status Report.Txt
..........\........\.......\INS_ALL PCB ECO 2008-7-14 17-09-47.LOG
..........\........\.......\INS_ALL PCB ECO 2008-7-14 17-15-24.LOG
..........\........\.......\INS_ALL PCB ECO 2008-7-14 2-09-35.LOG
..........\........\.......\INS_ALL PCB ECO 2008-7-14 2-10-08.LOG
..........\........\.......\INS_ALL PCB ECO 2008-7-14 20-47-33.LOG
..........\........\.......\INS_ALL PCB ECO 2008-7-14 20-48-51.LOG
..........\........\.......\INS_ALL.DRC
..........\........\.......\INS_ALL.PcbDoc
..........\........\.......\INS_ALL.PRJPCB
..........\........\.......\INS_ALL.PRJPCBStructure
..........\........\.......\INS_ALL.SCHDOC
..........\........\.......\INS_ALL_Components.SCHDOC
..........\........\JTAG_PACK
..........\........\.........\History
..........\........\.........\JTAGPACK.SchDoc
..........\........\.........\JTAG_PACK PCB ECO 2008-7-15 7-45-08.LOG
..........\........\.........\JTAG_PACK PCB ECO 2008-7-15 7-47-46.LOG
..........\........\.........\JTAG_PACK PCB ECO 2008-7-15 7-52-26.LOG
..........\........\.........\JTAG_PACK.PcbDoc
..........\........\.........\JTAG_PACK.PrjPCB
..........\........\.........\JTAG_PACK.PrjPCBStructure
..........\........\Magnet_NEW
..........\........\..........\History
..........\........\..........\Project Outputs for Magnet_NEW
..........\........\..........\..............................\Magnet_NEW.xls
..........\........\..........\..............................\Status Report.Txt
..........\........\..........\Compass Module.SCHDOC
..........\........\..........\Magnet_NEW.DRC
..........\........\..........\Magnet_NEW.PCBDOC
..........\........\..........\Magnet_NEW.PrjPCB
..........\........\..........\Magnet_NEW.PrjPCBStructure
..........\........\..........\Magnet_NEW.SchDoc
..........\........\Project Outputs for DSP_INS
..........\........\...........................\DSP_INS.xls
..........\........\...........................\Status Report.Txt
..........\........\5Vin_Power.SchDoc
..........\........\DSP_GPIO.SCHDOC
..........\........\DSP_INS.PrjPCB
..........\........\DSP_INS.PrjPCBStructure
..........\........\DSP_INS_PcbLib.PcbLib
..........\........\DSP_INS_SchLib.SchLib
..........\........\DSP_INS_Work.DsnWrk
..........\........\DSP_Memory.SCHDOC
..........\........\DSP_Misc.SCHDOC
..........\........\DSP_Module.DRC
..........\........\DSP_Module.PCB3D
..........\........\DSP_Module.PCBDOC
..........\........\DSP_Module.SCHDOC
..........\........\TMX320F28335PGFA_pcb.LIB
..........\........\TMX320F28335PGFA_sch.LIB
..........\........\TPS62400DRCR.OLB
..........\src
..........\...\ADIS16350.c
..........\...\ADIS16350.h
..........\...\AT45DB642D.h
..........\...\DSP_INS.c
..........\...\EKFilter.c
..........\...\EKFilter.h
..........\...\GPS.c
..........\...\GPS.h
..........\...\IGRFWMM.c
..........\...\IGRFWMM.h
..........\...\INS_Func.c
..........\...\INS_Func.h
..........\...\INS_Init.c
..........\...\INS_Init.h
..........\...\matrix.c
..........\...\matrix.h
..........\...\McBSP_SPI.c
..........\...\McBSP_SPI.h
..........\...\SCI_A.c
..........\...\SCI_A.h
..........\...\SCI_C.c
..........\...\SCI_C.h
..........\README