摘要
为满足含有多个成像系统的光电经纬仪跟踪实时性的要求,保证其跟踪的精度与可靠性,设计并研制了符合MIMD架构的计算系统。对经纬仪预测滤波、数据融合问题进行了理论推导,证明该算法需要大量的数值计算。为满足上述计算要求,开发出一套具有双DSP,单FPGA的3个运算单元的专用并行计算系统,分析了每个运算单元实时运算的时间开销。仿真实验表明,在具有3个成像系统的光电经纬仪中,当CCD采样频率为50 Hz时,光电编码器采样频率为800 Hz,该系统可以满足1.25 ms的实时性要求。
In order to satisfy the requirement of real-time tracing for photoelectric theodolite with multi imaging systems and to guarantee tracing precision and reliability, a new servo-control system according to Multiple Instruction Multiple Data Stream（MIMD） structure was proposed. The predictive filtering and data fusion of theodolite was derived theoretically. The results show that solution of data fusion needs a vast amount of numerical calculations. In order to satisfy the calculation requirement, a special parallel calculation system with three arithmetic units,two DSPs and a single FPGA was developed. The time outgoing of real-time calculation for each calculation unit was analysed. The simulation results show that the system can achieve 1.25 ms operation time in real-time for the theodolite with three imaging systems, while the CCD sampling frequency is 50 Hz and sampling frequency of photoelectric encoder is 800 Hz.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第11期2151-2157,共7页
Optics and Precision Engineering
基金
中国科学院知识创新工程领域前沿资助项目
关键词
光电经纬仪
光电跟踪
数据融合
并行计算
实时性
photoelectric theodolite
photoelectric tracing
data fusion
parallel calculation
real-time
