Full-autonomous strapdown inertial navigation system based on DSPTMS 320F28335

Abstract

The invention discloses a full-autonomous strapdown inertial navigation system based on DSPTMS 320F28335. DSPTMS 320F28335 is used as a controller of the system, a full-autonomous strapdown inertial navigation algorithm is embedded into software of a floating-point type DSP to be achieved, output signals of a fiber-optic gyroscope and an accelerometer in an inertial measurement unit (IMU) are collected and analyzed in real time, and algorithm operation is controlled to ensure high-speed processing capacity, high real-time performance, high accuracy, high performance, low cost and low power consumption of the full-autonomous strapdown inertial navigation system. The full-autonomous real-time strapdown inertial system is suitable for carriers, wherein accurate positioning information is not provided, the carrier posture changes all the time under external disturbance; for example, the system is suitable for carriers under the conditions of tunnel deep, dense forests in the deep mountains and deep sea floors, wherein latitude information is not provided directly or cannot be measured.

Description

technical field [0001] The present invention provides a fully autonomous strapdown inertial navigation system based on DSPTMS320F28335, which has high precision and high data processing efficiency, and involves the software implementation of the algorithm embedded in the floating-point DSPTMS320F28335, the calculation of the latitude information of the location of the downloading body on the shaking base, The calculation of the strapdown attitude matrix under the condition of dynamic interference, and the strapdown inertial autonomous navigation after the self-alignment is completed. The present invention is suitable for a fully autonomous real-time strapdown inertial system that does not provide precise positioning information and the attitude of the carrier is constantly changing due to external interference, such as deep tunnels where latitude information is not directly provided or where the latitude information is unmeasurable. , deep mountains, dense forests, and deep se...

AI Technical Summary

Problems solved by technology

Considering the choice of processor hardware platform, when a large number of floating-point operations or complex arithmetic operations are performed, for general single-chip or fixed-point processors, the program execution efficiency is low, the data update is slow, and the execution cycle is long. Real-time and efficient calculation of the attitude matrix of the vehicle, while the data processing accuracy is low, and the computing power is not fully satisfied

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