摘要
针对惯性导航系统成本较高精度低无法广泛使用,设计了一种新型的自主式微惯性导航系统,采用DSP作为导航解算和控制的核心处理器。导航解算算法利用四元数理论进行编写,进而确定载体的速度、位置和姿态。实验结果表明,相对数值误差为10-4%,测试相对误差为10-3%,计算时间为40μs。系统大大降低仪器的重量、成本、体积,具有广阔的市场应用前景。
Inertial Navigation System can hardly be used because of its high cost and low accuracy. A new type of autonomous inertial navigation system is designed. It uses DSP as the navigational calculating and controlling processor. The arithmetic of navigational calculating is based on quaternion algorithm so as to determine the object＇s speed, position and posture. The result indicates that relatively numerical deviation is 10-4%, relatively test deviation is 10-3% and calculation time is 40ps. The weight, cost, volume is reduced in this design. It has wide market application prospect.
出处
《计算机系统应用》
2011年第12期105-108,共4页
Computer Systems & Applications
关键词
捷联式
惯性导航
四元数法
DSP
strapdown
inertial navigation
quaternion algorithm
DSP
