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为了提高姿态确定算法的计算速度,通过对陀螺星敏感器姿态确定算法的详细分析,设计出了基于SOPC(System On a Programmable Chip)系统的卡尔曼滤波处理器。在该处理器中,对算法进行了软硬件代码划分。软件部分采用Nios Ⅱ IDE编程环境进行编写和编译,硬件部分采用硬件描述语言进行构造。通过SOPC系统,将两者集成于单一的FPGA(Field Programmable Gate Array)芯片中。最后,对于相同条件,在实际芯片与Matlab上分别对算法进行了仿真。两者的仿真结果表明,基于SOPC系统的姿态确定算法能够在一定精度范围内正确并快速地确定航天器的姿态。
In order to improve the computational speed of attitude determination algorithm, a Kalman filter processor based on System On a Programmable Chip (SOPC) system is designed by analyzing the attitude determination algorithm of gyro star sensor. In this processor, the algorithm is divided into hardware and software code. The software part is written and compiled by Nios Ⅱ IDE programming environment, and the hardware part is constructed by hardware description language. Through the SOPC system, both are integrated into a single FPGA (Field Programmable Gate Array) chip. Finally, for the same conditions, the algorithm is simulated on the actual chip and Matlab respectively. The simulation results show that the attitude determination algorithm based on SOPC system can determine the attitude of the spacecraft correctly and quickly within a certain range of accuracy.