發(fā)布時(shí)間：2019-01-10 18:37

【摘要】：本文首先對(duì)慣性導(dǎo)航基本原理及作用進(jìn)行了研究,并對(duì)捷聯(lián)慣性導(dǎo)航中涉及到的數(shù)學(xué)平臺(tái)解析原理和基于歐拉角法的姿態(tài)矩陣求解過(guò)程進(jìn)行了分析,并最終將其確定為本論文導(dǎo)航解算算法的編譯依據(jù)。隨后,根據(jù)所設(shè)計(jì)的捷聯(lián)慣性導(dǎo)航系統(tǒng)功能和性能需求對(duì)硬件電路結(jié)構(gòu)和功能部件進(jìn)行了設(shè)計(jì)。 在上述工作基礎(chǔ)上,利用SOPC Builder對(duì)系統(tǒng)的NiosⅡ內(nèi)核及各功能模塊進(jìn)行了搭建。用QuartusⅡ軟件建立了工程文件,整合了功能模塊,完成了片上系統(tǒng)的設(shè)計(jì)和編譯工作,并生成了FPGA配置文件和工程文件。用Modelsim軟件對(duì)系統(tǒng)功能模塊進(jìn)行了時(shí)序仿真完成了功能驗(yàn)證工作。至此整個(gè)導(dǎo)航系統(tǒng)的平臺(tái)搭建完畢,隨后利用Matlab軟件建立了載體模擬軌跡并編寫(xiě)算法對(duì)載體導(dǎo)航信息進(jìn)行了解算,得到了載體速度、位置、姿態(tài)等參數(shù)的解算結(jié)果和誤差仿真結(jié)果驗(yàn)證了算法的可行性。
[Abstract]:In this paper, the basic principles and functions of inertial navigation are studied, and the analytical principle of mathematical platform and the solution process of attitude matrix based on Euler angle method are analyzed. Finally, it is determined as the compilation basis of the navigation algorithm in this paper. Then, according to the functional and performance requirements of the strapdown inertial navigation system, the hardware circuit structure and functional components are designed. On the basis of the above work, SOPC Builder is used to build the Nios 鈪，

本文編號(hào)：2406656