基于CORDIC的位姿测量IP核设计  

IP Core Design of Relative Position and Attitude Determination Based on Cordic

作　　者：王韬[1] 金虎[1] 罗明阳 付连庆[1] 张庆乐[1] 

机构地区：[1]重庆大学通信与测控中心,重庆400044 [2]重庆金美通信有限责任公司,重庆400030

出　　处：《世界科技研究与发展》2013年第1期28-31,共4页World Sci-Tech R&D

基　　金：重庆大学高层次人才科研启动基金(0903005104724);中央高校基本科研业务费(CDJZR10160012)资助

摘　　要：分析了相对位姿测量的基本原理,提出了一种优化的VLSI实现方案。将相对位姿测量电路映射为5大基本模块电路:矢量归一化、矢量叉积、矩阵方程组求解、相对姿态角计算和相对位置计算。这些电路均基于CORDIC算法设计,只有简单的移位相加运算,非常适合于在FPGA芯片上实现。利用ISE软件和ModelSim软件得到的仿真结果验证了该方案是可行的。The principle of relative position and attitude determination is described, with optimized VLSI implementation scheme designed. The relative position and attitude determination circuit is mapped to the following five basic components：vector normalizing, vector cross prod- uct,matrix equations solution, relative attitude angle calculation and relative position calculation. Each component is designed based on CORDIC algorithm,which only has simple shift-add computation units and is very suitable to be implemented in FPGA chip. The simulation result by ISE and ModelSim software shows that the scheme is feasible.

关 键 词：相对位置和相对姿态 坐标旋转数字计算机 知识产权核 

分 类 号：TP331[自动化与计算机技术—计算机系统结构]