捷联惯导系统姿态解算的实现

提出了捷联惯性导航系统姿态解算模块的一种实现方法。基于DSP的硬件平台和四元数的数学平台，设计了捷联惯性导航系统的姿态解算模块。介绍了捷联惯性导航系统的工作原理和姿态解算的基本算法，并给出了四元数法的四阶龙格—库塔数值解法。设计了姿态解算模块的硬件电路和软件实现程序。实验测试结果表明，在增量角小于5°的情况下，四阶龙格—库塔法进行姿态解算，误差小于0.0053％，能够满足捷联惯性导航系统的精度要求；应用TMS320C6713B进行硬件电路设计，每次解算时间小于36µs，能够满足捷联惯性导航的实时性的要求。

Realization of attitude algorithm module in strapdown inertial guidance system

A method to realize attitude algorithm module in strapdown inertial guidance is presented. Based on the digital signal processor and quaternions, the attitude algorithm module in strapdown inertial guidance is designed. Firstly, the principle of trapdown inertial guidance, the attitude algorithm and the numerical method is introduced. The circuit and software of attitude algorithm is designed. The test result shows, when the increment is less than 5°, the relative error is less than 0.005286％ with 4 order Runge—Kutta; the algorithm time is less than 36µs with TMS320C6713B. It can meet the demands of trapdown inertial guidance.