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  A mini and low-cost strapdown inertial navigation system(SINS) is designed for civilian.Micromechanical gyroscope and accelerometer are the inertial measurement units.For the problem of high calculation of SINS,this paper adopts digital signal processor(DSP) and complex programmable logic device(CPLD) as the core of hardware system to realize signal acquisition and data communication.The navigation information is gained by calculating acquired data signal with strapdown inertial navigation algorithm,error compensation algorithm is researched for the variety system error,and finally the navigation precision of SINS is improved.……