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Gyro-free strapdown system based on DSP/FPGA

A technology without gyro and strapdown, applied in the field of navigation system, can solve the problems of insufficient calculation speed and precision, and achieve the effects of improving calculation speed and accuracy, reducing cost, reducing volume and weight

Inactive Publication Date: 2016-03-30
南京恒誉名翔科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a DSP / FPGA-based strapdown system without gyro, which solves the problem of insufficient calculation speed accuracy in the application process of strapdown inertial navigation without gyro

Method used

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  • Gyro-free strapdown system based on DSP/FPGA
  • Gyro-free strapdown system based on DSP/FPGA

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Experimental program
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Effect test

Embodiment 1

[0015] combine figure 1 , figure 1 It is the overall block diagram of the system. A gyro-less strapdown system based on DSP / FPGA is mainly composed of a host computer, an FPGA processing module, a DSP processing module, a download module, and a power supply module. The design of the present invention adopts FPGA to complete the collection of MEMS acceleration signals, and DSP completes correlation filtering and navigation solution. The model of 6 MEMS accelerometers that the present invention adopts is identical, is ADXL362 of ADI. In the present invention, DSP is mainly used for navigation calculation, and DSP is required to have strong computing ability, and high-performance floating-point microcontroller TMS320C28346 is selected. The main purpose of FPGA among the present invention is to bond the communication between DSP and MEMS and the upper computer, including the SPI communication between ADXL362, the UART communication between the upper computer and the commun...

Embodiment 2

[0017] combine figure 2 , figure 2 Flowchart for solving the attitude of the vehicle. The calculation of the attitude angle of the carrier is realized by solving the differential equation of the quaternion. The angular velocity obtained from the solution is transformed into the geographic coordinate system, and the quaternion is obtained by using the fourth-order Runge-Kutta method, and then the carrier is obtained. Attitude array, and finally calculate the attitude of the carrier. The specific steps are: (1) given the initial value of the system; (2) obtained the data information of the MEMS accelerometer according to the experiment, and obtained the angular velocity of the carrier by calculating the specific force information of the accelerometer, and after compensating the error of the accelerometer, Transform the calculated three-axis angular velocity into the geographic coordinate system; (3) use the quaternion method to solve the differential equation of the quate...

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Abstract

The invention discloses a gyro-free strapdown system based on DSP / FPGA. The gyro-free strapdown system based on DSP / FPGA is mainly composed of a host computer, an FPGA processing module, a DSP processing module, a downloading module and a power supply module; and the FPGA processing module finishes acquisition of an MEMS acceleration signal, the DSP processing module finishes related filtering and navigation resolution, an MEMS accelerometer employs ADXL362, and DSP employs a high-performance floating-point microcontroller TMS320C28346. The gyro-free strapdown system employing DSP / FPGA as a hardware possesses the advantages of small volume, high precision, small energy consumption, fast speed, low cost, high reliability and the like, and is capable of satisfying demands of the system on precision and realtime performance.

Description

technical field [0001] The invention relates to a navigation system, in particular to a DSP / FPGA-based strapdown system without a gyroscope. Background technique [0002] Inertial navigation systems can generally be divided into platform inertial navigation systems and strapdown inertial navigation systems. The basis for the distinction is the installation method of the measuring components on the carrier. In the strapdown inertial navigation system, the accelerometer and gyroscope are directly fixed on the carrier, and the output of the inertial element will be directly sent to the navigation computer for real-time attitude calculation. It can be seen that the navigation computer plays a platform role in the strapdown inertial navigation system. The so-called strapdown inertial navigation system without gyro is a strapdown inertial navigation system whose inertial components only use accelerometers instead of gyroscopes. [0003] At present, the importance of the strapdow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 李相武王瑛李忠喜
Owner 南京恒誉名翔科技有限公司