High-mobility platform attitude resolving device and method under multi-core heterogeneous processor architecture
A technology of heterogeneous processors and solving devices, which is applied in the direction of instruments, simulators, computer control, etc., can solve the problems of delay in reporting, untimely solving, and failure to provide accurate and reliable attitude data, etc., to achieve dynamic convergence Fast, good high dynamic characteristics, to ensure the effect of real-time requirements
Active Publication Date: 2021-12-28
BEIHANG UNIV
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Another common attitude calculation algorithm is called the inertial measurement unit (IMU). IMU) only provides sensor data and does not have the function of providing accurate and reliable attitude data
Due to the time delay in the magnetometer used in the attitude sensor chip used in the present invention, the traditional data reading method will also cause the problem that the solution is not timely and the report has a delay
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0038] Such as figure 1 As shown, the present invention is mainly composed of four parts: a measurement data acquisition module, a data transmission module, an attitude fusion solution module and an output module.
[0039] The measurement data acquisition module is mainly integrated in the FPGA core. After completing the configuration of the attitude sensor chip, it enters the cyclic reading working state, polls and reads the measurement data, and integrates the nine-axis data flow through the FPGA core through the on-chip AXI bus. The data is transmitted to the ARM core, which mainly completes the attitude calculation, and finally transmits it to the host computer through the output module to meet the application requirements of different scenarios.
[0040] The flow of the self-correcting AHRS solution method is as follows:
[0041] (1) The input ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a high-mobility platform attitude resolving device and method under a multi-core heterogeneous processor architecture. The system mainly comprises a measurement data acquisition module, a data transmission module, an attitude fusion resolving module and an output module. Measurement data comprises X-axis, Y-axis and Z-axis data including angular velocity, acceleration and magnetic field intensity. An FPGA core is used for collecting, measured data are subjected to an optimized reading method and then flow into an ARM core through an AXI bus, and an attitude fusion algorithm based on the AHRS is used for resolving the data to obtain an absolute attitude angle. The method is easy to implement, high in portability, capable of rapidly completing attitude calculation after data are collected and conducting real-time analysis on attitude information of the mobile platform, high in precision, high in stability, low in output delay and capable of completing attitude monitoring and control over the mobile platform in various scenes.
Description
technical field [0001] The invention relates to the technical field of intelligent control, in particular to a device and method for calculating the attitude of a high-mobility platform under the framework of a multi-core heterogeneous processor. Background technique [0002] Multi-core processor refers to the integration of two or more complete computing engines (cores) in a unified processing platform. At this time, the platform can support multiple processors on the system bus, and the bus controller provides all bus control signals and command signals. , and ZYNQ, as an on-chip processor architecture that connects the FPGA core and the ARM core through the AXI bus, has been widely used in various scenarios. AHRS refers to the attitude reference system, including multiple axial sensors, which can provide pitch, roll and rollover information for various high-mobility platforms. This type of system is used to provide accurate and reliable attitude and navigation information...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 张弘赵存飞杨一帆李旭亮郭威威袁丁
Owner BEIHANG UNIV