基于DSP的捷联姿态参考系统实现

Strapdown Attitude Reference System Based on DSP

基于TI公司TMS320C5416实现的捷联姿态参考系统,该系统完成在动态环境下载体横滚角、俯仰角的准确输出。文中论述了系统的硬件、软件设计;模块的组成、功能,详细说明了姿态角的计算、初始对准以及采用的稳定、实时、变增益自适应扩展卡尔曼滤波估计算法。

A strapdown attitude reference system based on DSP chip TMS320C5416 of TI, which can provide accurate dynamic attitude estimates of the carrier. The overall hardware and software design, function modules ,and the major algorithms were introduced. Attitude calculation techniques, initial alignment methods and A real-time adaptive extended Kalman filter used for improve the system precision were discussed.