一种基于TMS320 C6713的捷联惯导系统设计

为适应目前捷联惯性导航系统（ SINS）实时性好、速度快、精度高、小型化、低功耗发展需求，设计一种DSP＋FPGA的捷联惯导系统平台，采用FPGA完成传感器数据采集与控制；采用高性能TMS320C6713 DSP为核心处理器完成航姿解算；介绍了FPGA与DSP数据交互关系；DSP程序采用C语言和汇编语言编写，FPGA设计采用VHDL语言描述；实验证明：设计可行，姿态角误差在0.05°范围内，精度符合设计要求。

Design of a strapdown inertial navigation system based on TMS320 C6713

To adapt to development needs for good real-time,fast speed,high precision,small size,low power consumption,of current SINS design a DSP + FPGA SINS platform,use FPGA to complete sensor data acquisition and control;use high performance TMS320C6713 DSP as the core processor to complete attitude and heading reference system( AHRS);describe interaction relationship between FPGA and DSP;DSP programs are compiled by C language and assembly language,FPGA design is described using VHDL language;test proves the design is feasible,the errors of attitude angle is within 0. 05,the precision is up to design criterion.