一种姿态测量系统的FPGA和DSP设计与实现  

Design and implementation of FPGA and DSP for attitude measurement system

作　　者：吕金锐[1] LV Jinrui(Department of Information Engineering,Taiyuan City Vocational college,Taiyuan,Shanxi 044000,China)

机构地区：[1]太原城市职业技术学院信息工程系,山西太原030027

出　　处：《计算机时代》2021年第5期29-32,37,共5页Computer Era

基　　金：零售业SaaS云计算管理系统关键技术研究(201703D121042-1)。

摘　　要：为了实现对某弹载系统的姿态测量,提出一种基于FPGA+DSP的姿态测量系统的设计。系统采用FPGA作为逻辑控制核心,完成对MEMS传感器输出的陀螺加表数据的采集,并通过EMIF接口完成与DSP的数据通信。DSP完成对姿态信息的解算,并由FPGA通过RS422接口将更新后的姿态信息上传至上位机。系统选用地理坐标系作为导航坐标系,利用四元数法及Kalman信息融合算法对采集到的姿态信息进行解算。测试结果表明,该系统输出的姿态信息精度较好,总体角误差在0.5°以内。A kind of attitude measurement system based on FPGA and DSP is proposed to realize the attitude measurement of a projectile-borne system.The system uses FPGA as the core of logic control to collect the gyro table data output by MEMS sensor and to communicate data with DSP through EMIF interface;The DSP completes the resolution of the attitude information,while the FPGA uploads the updated attitude information to the upper computer through the RS422 interface.Geographic coordinate system is chosen as navigation coordinate system,and the attitude information collected is solved by Quaternion method and Kalman information fusion algorithm.The test results show that the accuracy of attitude information output by the system is good,and the overall angle error is within 0.5.

关 键 词：MEMS传感器 姿态测量 FPGA+DSP 四元数 Kalman信息融合 姿态解算 

分 类 号：TN702[电子电信—电路与系统]