摘要
为适应实际工程应用中导航系统小型化、低成本和高性能的要求,设计一种基于MEMS陀螺仪和加速度计的微惯性导航解算系统。综合考虑系统成本、计算速度、体积功耗等各方面的因素,该系统以FPGA作为核心控制,用DSP完成导航解算,通过串口将解算结果回传上位机进行姿态、速度、位置实时显示,并进行实地跑车试验。根据实际测试要求,完成系统在自检、对准、导航3种不同状态下DSP程序的编写。实验结果表明:基于DSP/FPGA的微惯导系统能够满足应用的要求,行车实验中车辆行驶100 s,最终位置误差绝对值小于25 m,实现实时位置解算系统的功能并缩小体积,降低成本。
In order to meet the requirements of miniaturization, low cost and high performance of navigation system in practical engineering applications, a micro inertial navigation solution system based on MEMS gyroscope and accelerometer is designed. In view of the system cost, computation speed, volume work loss and other aspects of factors, the system takes FPGA as the core control, uses DSP to complete the navigation solution, and passes back the solution results through serial port to the host computer for real-time display of posture, speed and position. Besides, field driving test is also carried out. According to the actual test requirements, the preparation of DSP program under self-test, alignment and navigation states is completed. Test results show that the micro inertial navigation system based on DSP/FPGA can meet application requirements, vehicles are driven for 100 s during driven test, and the absolute error of the final position is less than 25 m. The function of the real-time position solution system is realized, the volume and the cost are reduced.
出处
《中国测试》
北大核心
2017年第10期69-73,共5页
China Measurement & Test
基金
山西省青年基金项目(2012021013-6)
