基于FPGA_ARM的机载组合导航系统设计  

Design of Integrated Navigation System Based on FPGA and ARM

作　　者：马帅旗[1] 鲍存会[1] 

机构地区：[1]陕西理工学院电气工程学院,陕西汉中723003

出　　处：《计算机测量与控制》2014年第1期251-253,共3页Computer Measurement &Control

基　　金：陕西省教育厅科研计划项目(2013JK1072)

摘　　要：为了降低惯性导航系统的累积误差,提高导航定位的准确性,文章采用惯性导航系统、GPS和磁航向计等构建了小型组合导航系统,以INS、GPS位置和速度的差值作为观测量,通过卡尔曼滤波器估计位置、速度和姿态等导航参数的误差量,进而获得准确的导航参数估计值;实验结果表明,该方法能够有效遏制系统累计误差,满足导航系统的精度和稳定性要求。As to the problem of reduce the accumulate error and improve location accuracy in inertial navigation system, this paper de signed an integrated navigation system, which consist of INS, GPS and magnetic heading meter. The position deviation and velocity deviation between GPS and INS were seen as observation parameters, and the position deviation and velocity deviation were estimated by Kalman filter, thus the accurate navigation parameter can he obtained. Experiment results show that this algorithm can effectively curb accumulated error, and can meet the requirements of accuracy and stability of the navigation system.

关 键 词：组合导航 卡尔曼滤波 四元数 现场可编程逻辑阵列 ARM 

分 类 号：TN96[电子电信—信号与信息处理]