中圖分類號： TN384
文獻標識碼： A
DOI：10.16157/j.issn.0258-7998.200459
中文引用格式： 王建中. 基于捷聯(lián)慣性導航系統(tǒng)姿態(tài)實時性的研究[J].電子技術應用，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

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