【摘要】：慣性導(dǎo)航系統(tǒng)具有自主性、高隱蔽性、抗干擾等特點(diǎn),是航空航天和軍事領(lǐng)域重要的導(dǎo)航系統(tǒng),其特點(diǎn)也是其它導(dǎo)航系統(tǒng)無法比擬的。隨著微機(jī)電系統(tǒng)(MEMS)的快速發(fā)展,出現(xiàn)了新一代微型陀螺儀和加速度計(jì),降低了慣性傳感器的制造成本,慣性導(dǎo)航系統(tǒng)發(fā)展前景一片大好。為了使慣性導(dǎo)航系統(tǒng)在民用領(lǐng)域迅速推廣,有必要設(shè)計(jì)一種低功耗、便攜式的小型硬件平臺,實(shí)現(xiàn)慣導(dǎo)系統(tǒng)的功能。針對此問題,本文以MEMS慣性器件為傳感器,FPGA為運(yùn)算核心構(gòu)建計(jì)算平臺,研究了捷聯(lián)式慣性導(dǎo)航系統(tǒng)。首先,研究了捷聯(lián)式慣導(dǎo)系統(tǒng)的計(jì)算方法,通過分析慣性器件的運(yùn)動原理,系統(tǒng)性地構(gòu)建了捷聯(lián)式慣性導(dǎo)航解算模型。其次,基于FPGA設(shè)計(jì)了一套小型導(dǎo)航硬件平臺,該平臺包括傳感器模塊、運(yùn)算模塊、通信模塊、電源模塊、顯示模塊;為補(bǔ)償慣性導(dǎo)航的累積誤差,集成了輔助導(dǎo)航傳感器:磁強(qiáng)計(jì)和GPS接收機(jī);并在FPGA芯片上,圍繞軟處理器核MicroBlaze構(gòu)建片上系統(tǒng)進(jìn)行算法處理,通過添加外設(shè)IP核實(shí)現(xiàn)傳感器數(shù)據(jù)采集、接口通訊及相應(yīng)控制。然后,用C語言作為開發(fā)工具設(shè)計(jì)了導(dǎo)航系統(tǒng)的軟件部分。針對FPGA啟動加載的問題,提出了雙軟件工程架構(gòu),完成系統(tǒng)上電后的程序搬移。鑒于雙軟件工程代碼都存儲在FLASH中,提出了基于同步字的配置文件存儲方式,避免了數(shù)據(jù)的存儲沖突,而且也便于分塊讀取。接著,針對姿態(tài)解算誤差問題,研究了磁強(qiáng)計(jì)和慣導(dǎo)系統(tǒng)的互補(bǔ)濾波數(shù)據(jù)融合算法,并以二階低通濾波器為基礎(chǔ)推算出互補(bǔ)濾波模型。同時也設(shè)計(jì)了基于卡爾曼濾波器的GPS/慣性導(dǎo)航航位解算數(shù)據(jù)融合模型。最后,構(gòu)建了一套三維姿態(tài)測試平臺,用以驗(yàn)證互補(bǔ)償濾波算法的姿態(tài)解算效果。進(jìn)一步對導(dǎo)航系統(tǒng)車載試驗(yàn),證明了硬件系統(tǒng)的可操作性,并且運(yùn)行穩(wěn)定。
[Abstract]:Inertial navigation system has the characteristics of autonomy, high concealment, anti-jamming and so on. It is an important navigation system in aerospace and military fields, and its characteristics can not be compared with other navigation systems. With the rapid development of MEMS (MEMS), a new generation of micro gyroscopes and accelerometers appear, which reduces the manufacturing cost of inertial sensors. In order to popularize inertial navigation system in civil field, it is necessary to design a small hardware platform with low power consumption and portable to realize the function of inertial navigation system. In order to solve this problem, the strapdown inertial navigation system is studied in this paper. Firstly, the calculation method of strapdown inertial navigation system is studied, and the model of strapdown inertial navigation is systematically constructed by analyzing the motion principle of inertial devices. Secondly, a small navigation hardware platform based on FPGA is designed. The platform includes sensor module, operation module, communication module, power module and display module. The auxiliary navigation sensors, magnetometer and GPS receiver, are integrated, and the arithmetic processing is carried out around the soft processor core MicroBlaze on the FPGA chip. The sensor data collection, interface communication and corresponding control are realized by adding the peripheral IP core. Then, the software part of the navigation system is designed with C language as the development tool. To solve the problem of FPGA startup loading, a dual software engineering architecture is proposed to complete the program transfer after the system is powered on. In view of the dual software engineering code is stored in FLASH, a configuration file storage method based on synchronous word is proposed, which avoids the data storage conflict and is easy to read in blocks. Then, the complementary filtering data fusion algorithm for magnetometer and inertial navigation system is studied, and the complementary filtering model is derived based on the second-order low-pass filter. At the same time, the data fusion model of GPS/ inertial navigation system based on Kalman filter is designed. Finally, a set of three-dimensional attitude testing platform is constructed to verify the effect of mutual compensation filtering algorithm. Further vehicle test of the navigation system proves that the hardware system is operable and running stably.
【學(xué)位授予單位】：中國民航大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TN96

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