| 基于DSP+MCU的小型捷联惯性导航计算机系统 |
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| 引用本文： | 杜亚玲,刘建业,曾庆化,赖际舟. 基于DSP+MCU的小型捷联惯性导航计算机系统[J]. 系统工程与电子技术, 2005, 27(8): 1452-1455 |
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| 作者姓名： | 杜亚玲 刘建业 曾庆化 赖际舟 |
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| 作者单位： | 南京航空航天大学自动化学院导航研究中心,江苏,南京,210016 |
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| 摘 要： | 针对通用计算机不能满足捷联惯性航姿系统小型化的要求,介绍了自行研发的基于双CPU的专用导航计算机。并以该计算机为平台,利用低成本IMU等传感器,构成了小型捷联惯性航姿系统。针对该惯性航姿系统的特点,简化了磁航向补偿算法、应用了低阶卡尔曼滤波器。针对导航计算机“数字信号处理器(DSP)+单片机(MCU)”的特殊结构,设计了合理的导航程序流程。实验证明:基于DSP+MCU的小型捷联惯性航姿系统实时性好,精度可达到要求,而且大大减小了系统体积和功率,降低了成本。
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| 关 键 词： | 捷联惯性航姿系统 导航计算机 低阶卡尔曼滤波器 |
| 文章编号： | 1001-506X(2005)08-1452-04 |
| 修稿时间： | 2004-06-11 |
Small strapdown inertial navigation computer system based on DSP & MCU |
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| DU Ya-ling,LIU Jian-ye,ZENG Qing-hua,LAI Ji-zhou. Small strapdown inertial navigation computer system based on DSP & MCU[J]. System Engineering and Electronics, 2005, 27(8): 1452-1455 |
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| Authors: | DU Ya-ling LIU Jian-ye ZENG Qing-hua LAI Ji-zhou |
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| Abstract: | General computer as the core of strapdown inertial attitude heading reference system(AHRS) can't satisfy the requirements of miniaturization. A self-developed special navigation computer based on double CPUs is introduced. The small-sized strapdowm inertial AHRS is composed of computer, low cost IMU, etc. Low-order Kalman filter is designed based on the AHRS characteristics. The program flows for the special structure of "DSP+MCU" are modified. The experiments proves that the small-sized systems work in real time and steadily, with higher precision, smaller volume, lower power and cost. |
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| Keywords: | strapdown inertial attitude heading reference system navigation computer low-order Kalman filter |
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