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基于捷聯(lián)慣性導(dǎo)航系統(tǒng)姿態(tài)實(shí)時(shí)性的研究
2020年電子技術(shù)應(yīng)用第11期
王建中
重慶青年職業(yè)技術(shù)學(xué)院 人工智能學(xué)院,,重慶400712
摘要: 針對(duì)激光陀螺捷聯(lián)慣性導(dǎo)航系統(tǒng)信號(hào)采集、姿態(tài)解算,、數(shù)據(jù)輸出實(shí)時(shí)性問題,,分析三軸激光陀螺儀和三軸加速度計(jì)傳感器慣性組件IMU,、里程計(jì)、高度計(jì),、GPS/北斗等數(shù)據(jù)輸入和輸出,。數(shù)據(jù)交換一般采用RS-232串行接口、CAN總線接口,,難以滿足傳感器高速實(shí)時(shí)采樣,。因此,提出一種采用FPGA雙口RAM+雙DSP高速數(shù)據(jù)存取方式,,按照時(shí)鐘同步周期分別實(shí)時(shí)輸出導(dǎo)航數(shù)據(jù),,可有效解決數(shù)據(jù)發(fā)送、處理,、傳輸?shù)礁髟O(shè)備之間的瓶頸問題,,最高輸出頻姿態(tài)率可達(dá)100 kHz~2 000 kHz,實(shí)現(xiàn)捷聯(lián)導(dǎo)航系統(tǒng)姿態(tài)狀態(tài)快速反應(yīng)能力,。實(shí)驗(yàn)和仿真表明,,該方法可以大大提高系統(tǒng)的周期解算能力,提高載體的機(jī)動(dòng)性能,。
中圖分類號(hào): TN384
文獻(xiàn)標(biāo)識(shí)碼: A
DOI:10.16157/j.issn.0258-7998.200459
中文引用格式: 王建中. 基于捷聯(lián)慣性導(dǎo)航系統(tǒng)姿態(tài)實(shí)時(shí)性的研究[J].電子技術(shù)應(yīng)用,,2020,46(11):23-29.
英文引用格式: Wang Jianzhong. Research on real-time attitude of strapdown inertial navigation system[J]. Application of Electronic Technique,,2020,,46(11):23-29.
Research on real-time attitude of strapdown inertial navigation system
Wang Jianzhong
Artificial Intelligence Department,Chongqing Youth Vocational & Technical College,,Chongqing 400712,,China
Abstract: Aiming at the real-time problems of signal acquisition, attitude calculation and data output of laser gyro strapdown inertial navigation system, the data input and output of IMU, odometer, altimeter and GPS/BeiDou are analyzed. RS-232 serial interface and CAN bus interface are generally used for data exchange, which are difficult to meet the high-speed real-time sampling of sensors. The paper puts forward a high-speed data access mode of FPGA dual port RAM+dual DSP to output navigation data in real time according to the clock synchronization cycle, which can effectively solve the bottleneck problem of data transmission, processing and transmission to various devices. The highest output frequency attitude rate can reach 100 kHz~2 000 kHz, and realize the rapid response ability of attitude state of strapdown navigation system. Experiments and simulations show that this method can greatly improve the cycle calculation ability of the system and the maneuverability of the carrier.
Key words : inertial measurement unit;laser gyro,;accelerometer;sampling frequency,;FPGA

0 引言

    捷聯(lián)慣性導(dǎo)航系統(tǒng)是一種隱蔽性好,,工作環(huán)境不易受外界干擾和影響的導(dǎo)航系統(tǒng),不易受氣象條件的限制,,具有自主性,、隱蔽性、實(shí)時(shí)性和全天候等優(yōu)點(diǎn)[1],,能提供載體精確的位置坐標(biāo),、姿態(tài)、速度和行駛里程等信息,。系統(tǒng)由三軸陀螺儀和三軸加速度計(jì)構(gòu)成的慣性測(cè)量單元(IMU),、里程計(jì),、高度計(jì)、北斗/GPS等組成[2],,其數(shù)據(jù)的采集周期,、輸入、輸出,、解算結(jié)果和應(yīng)用非常復(fù)雜,,實(shí)時(shí)性難以保證,不能快速獲取系統(tǒng)的運(yùn)動(dòng)狀態(tài)數(shù)據(jù),。

    捷聯(lián)慣性導(dǎo)航系統(tǒng)數(shù)據(jù)收發(fā)一般采用多組件串行接口輸入輸出數(shù)據(jù)傳輸方法RS-232,,最高速度能達(dá)到115 200 b/s。CAN總線速率最高傳輸速率可達(dá)1 Mb/s,。數(shù)據(jù)接收時(shí)使用空閑中斷觸發(fā)接收,,待解算完成后發(fā)送查詢線路狀態(tài)空閑后發(fā)送數(shù)據(jù)。按照以上兩種傳統(tǒng)方式,,很難快速解算和輸出姿態(tài)實(shí)時(shí)數(shù)據(jù),,更不能接收其他多個(gè)傳感器數(shù)據(jù)、采集輸入數(shù)據(jù)和輸出數(shù)據(jù)[3],。因此,,本文利用一種時(shí)鐘同步信號(hào)與車載系統(tǒng)時(shí)鐘同步,從而確保捷聯(lián)慣性導(dǎo)航系統(tǒng)姿態(tài)和車載系統(tǒng)時(shí)鐘同步,,能夠減少捷聯(lián)慣性導(dǎo)航系統(tǒng)各組件數(shù)據(jù)傳輸?shù)臅r(shí)間,;輸入輸出采用FPGA雙口RAM+雙DSP高速數(shù)據(jù)存取方式[4],解決捷聯(lián)慣性導(dǎo)航系統(tǒng)收發(fā)數(shù)據(jù)高速實(shí)時(shí)性困難,,提高姿態(tài)系統(tǒng)的動(dòng)態(tài)適應(yīng)能力,。




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作者信息:

王建中

(重慶青年職業(yè)技術(shù)學(xué)院 人工智能學(xué)院,重慶400712)

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