论文部分内容阅读
根据车船等移动载体通信卫星天线平台对导航系统的性能要求,设计了一款以DSP和现场可编程门阵列(FPGA,Field Programmable Gate Array)为核心处理器的捷联惯性导航系统(SINS,Strapdown Inertia Navigation System)/全球定位系统(GPS,Global Positioning System)组合导航系统,FPGA完成对陀螺、加速度计和GPS数据的采集和预处理;DSP进行捷联惯导姿态、速度和位置的解算,以及运用卡尔曼滤波实现SINS与GPS的组合导航解算,并将解算结果发送给天线平台伺服控制系统以实现天线实时、准确、可靠指向通信卫星的控制。最后进行了跑车试验,验证了导航系统软、硬件设计的正确性和可靠性,同时,系统具有体积小、成本低、配置升级灵活等优点,能够满足天线平台控制系统对组合导航系统的精度要求。
According to the performance requirements of the navigation system for mobile carrier communication satellite antenna platforms such as vehicles and ships, a SINS (Strapdown) system with DSP and Field Programmable Gate Array (FPGA) as its core processor is designed. Inertia Navigation System / Global Positioning System (GPS) integrated navigation system, FPGA to complete the collection and preprocessing of gyroscope, accelerometer and GPS data; DSP to solve SINS pose, velocity and position, The Kalman filter is used to realize the combined navigation solution of SINS and GPS, and the result is sent to the antenna platform servo control system to realize the control of the satellite in real time, accurately and reliably. Finally, a sports car test was conducted to verify the correctness and reliability of the navigation system software and hardware design. At the same time, the system has the advantages of small size, low cost and flexible configuration upgrade, which can meet the requirements of the antenna platform control system for the integrated navigation system .