基于捷联惯性导航系统姿态实时性的研究  

Research on real-time attitude of strapdown inertial navigation system

作　　者：王建中[1] Wang Jianzhong(Artificial Intelligence Department,Chongqing Youth Vocational&Technical College,Chongqing 400712,China)

机构地区：[1]重庆青年职业技术学院人工智能学院,重庆400712

出　　处：《电子技术应用》2020年第11期23-29,共7页Application of Electronic Technique

基　　金：重庆市高等教育教学改革研究项目(183263);(绩效管理)课程思政教学改革探索(193472);大数据背景下学生思政教育中行为数据应用研究(19SKSZ089);智能导航创新团队(CQY2018TD05)。

摘　　要：针对激光陀螺捷联惯性导航系统信号采集、姿态解算、数据输出实时性问题,分析三轴激光陀螺仪和三轴加速度计传感器惯性组件IMU、里程计、高度计、GPS/北斗等数据输入和输出。数据交换一般采用RS-232串行接口、CAN总线接口,难以满足传感器高速实时采样。因此,提出一种采用FPGA双口RAM+双DSP高速数据存取方式,按照时钟同步周期分别实时输出导航数据,可有效解决数据发送、处理、传输到各设备之间的瓶颈问题,最高输出频姿态率可达100 kHz^2000 kHz,实现捷联导航系统姿态状态快速反应能力。实验和仿真表明,该方法可以大大提高系统的周期解算能力,提高载体的机动性能。Aiming at the real-time problems of signal acquisition,attitude calculation and data output of laser gyro strapdown inertial navigation system,the data input and output of IMU,odometer,altimeter and GPS/BeiDou are analyzed.RS-232 serial interface and CAN bus interface are generally used for data exchange,which are difficult to meet the high-speed real-time sampling of sensors.The paper puts forward a high-speed data access mode of FPGA dual port RAM+dual DSP to output navigation data in real time according to the clock synchronization cycle,which can effectively solve the bottleneck problem of data transmission,processing and transmission to various devices.The highest output frequency attitude rate can reach 100 kHz^2000 kHz,and realize the rapid response ability of attitude state of strapdown navigation system.Experiments and simulations show that this method can greatly improve the cycle calculation ability of the system and the maneuverability of the carrier.

关 键 词：惯性测量单元 激光陀螺 加速度计 采样频率 FPGA 

分 类 号：TN384[电子电信—物理电子学]