基于ZYNQ平台的GNSS/INS数据时间同步方法研究

Research on Time Synchronization Method of GNSS/INS Data Based on ZYNQ Platform

针对GNSS/INS组合导航系统中各子系统数据时间不同步会导致融合精度变差的问题。本文采用基于ZYNQ平台软硬件结合的方式设计时间同步系统,通过硬件方式建立时间基准统一各子系统时间尺度并赋予时间戳信息,并采用外推拟合算法补偿各子系统之间时标差实现时间配准。仿真实验验证该方法减小了时间同步误差对滤波结果的影响,有效降低融合后的速度误差和位置误差。

To address the issue of fusion accuracy degradation caused by the asynchronous data from various subsystems in the GNSS/INS integrated navigation system,this paper proposes a time synchronization system designed based on the ZYNQ platform with a combination of software and hardware.By utilizing hardware,a time base is established to unify the time scale of each subsystem and to provide timestamp information.The extrapolation fitting algorithm is employed to compensate for the temporal discrepancy among subsystems,thereby achieving time registration.Simulation experiments validate that this method mitigates the impact of time synchronization error on the filtering results,effectively reducing the velocity and position errors after fusion.