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| 小型惯导系统设计与实现 | |
| 引用本文： | 徐凯,刘鹤鹏,任波. 小型惯导系统设计与实现[J]. 沈阳理工大学学报, 2011, 0(2): 20-24 |
| 作者姓名： | 徐凯 刘鹤鹏 任波 |
| 作者单位： | 沈阳理工大学;沈阳广播电视大学; |
| 摘 要： | 采用一种基于FPGA的小型惯性导航系统设计方案,分别介绍了系统中导航传感器的选择及系统的结构,设计了基于FPGA的导航计算机,并利用A ltera公司的NIOSⅡ处理器为核心,完成数据采集和处理的功能。通过对硬件结构的描述分析了系统中各个电路模块的功能,给出了各个模块的实现方案,并制作了采用该设计的小型惯导系统。针对M IMU中确定性的系统误差较大的问题,采用一种安装误差角与标度因数解耦的微惯性测量单元精确标定方法,对陀螺仪和加速计进行确定性误差项的补偿处理。通过实验测试,对比原理样机的实测数据与补偿后结果,验证了该惯导系统的可靠性以及补偿方案的可行性. |
| 关 键 词： | FPGA 微惯性导航系统 标定 补偿 |
Design and Implementation of Small Inertial Navigation System |
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| XU Kai,LIU Hepeng,REN Bo. Design and Implementation of Small Inertial Navigation System[J]. Transactions of Shenyang Ligong University, 2011, 0(2): 20-24 | |
| Authors: | XU Kai LIU Hepeng REN Bo |
| Affiliation: | XU Kai1,LIU Hepeng2,REN Bo1(1.Shenyang Ligong University,Shenyang 110159,China,2.Shenyang Radio QTV University,Shenyang 110003,China) |
| Abstract: | A compact FPGA-based inertial navigation system design,introduced the system of choice of navigation sensors and system structure,design FPGA-based navigation computer,and using Altera＇s NIOS Ⅱ processor core,data acquisition and processing functions are completed.By describing the structure the hardware of the system function of each circuit block is analyzed,the realization of each module is determined,the design of small inertial navigation system is achieved.For the system error in MIMU uncertainty,using an installation angle and scale factor error of the micro inertial measurement unit decoupled precise calibration method,deterministic errors of gyroscopes and accelerometers are compensated.Through experimental tests,compared to the measured prototype data and compensation results,the reliability of the inertial navigation system and the feasibility of compensation are verified. |
| Keywords: | FPGA micro inertial navigation system calibration compensation |
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