A high-mobility platform attitude calculation device and method under a multi-core heterogeneous processor architecture
A heterogeneous processor and attitude technology, applied in the direction of instruments, simulators, computer control, etc., can solve the problems of not providing accurate and reliable attitude data, delay in reporting, and untimely calculation, and meet the requirements of ensuring real-time performance. , fast dynamic convergence, good effect of high dynamic characteristics
Active Publication Date: 2022-08-05
BEIHANG UNIV
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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
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[0037] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
[0038] like 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 calculation 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 FPGA core into nine axes of dense data flow through the on-chip AXI bus. The data is transmitted to the ARM core, and the attitude calculation is mainly completed in the ARM core, and finally transmitted to the upper 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:
[004...
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The invention provides an attitude calculation device and method for a high mobility platform under a multi-core heterogeneous processor architecture. The system mainly includes four parts: a measurement data acquisition module, a data transmission module, an attitude fusion calculation module and an output module. The measurement data includes XYZ nine-axis data including angular velocity, acceleration and magnetic field strength. Collected by the FPGA core, the measurement data flows into the ARM core through the AXI bus after optimized reading method, and an AHRS-based attitude fusion algorithm is used to solve the data to obtain the absolute attitude angle. The invention is easy to implement, has good portability, can quickly complete attitude calculation after collecting data, and conduct real-time analysis of attitude information of the mobile platform, with high precision, strong stability and low output delay, and can be used in various In the scene, the attitude monitoring and control of the mobile platform is completed.
Description
technical field [0001] The invention relates to the technical field of intelligent control, in particular to a device and a method for calculating the attitude of a high-mobility platform under a multi-core heterogeneous processor architecture. Background technique [0002] Multi-core processor refers to the integration of two or more complete computing engines (kernels) 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 heading and attitude reference system, including multiple axial sensors, which can provide pitch, roll and roll information for various high maneuvering platforms. This type of system is used to provide accurate and reliable attitude and navigation ...
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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