A Low-cost INS and GNSS Integrated Agriculture Navigation System Based on STM32

In response to the characteristics of navigation systems currently available in the market, which are expensive and have poor system stability. This paper presents a low-cost integrated navigation system for agricultural applications, combining INS and GNSS technologies, implemented on an STM32 microcontroller. This paper introduced the hardware implementation and software implementation process of the system. First, it outlines the hardware design of the system, encompassing overall structure diagrams and processor selection. Subsequently, it delves into the hardware designs of key modules, including the INS module and GNSS module, with detailed explanations of schematic diagrams. The document then discusses the software algorithms in detail, elucidating the principles and architecture of the artificial neural networks. Finally, test results demonstrated that during five minutes of GNSS signal interference, the INS position predicted by the neural network achieved an accuracy of up to 98%. These tests confirmed the system's outstanding precision and stability.