摘要
针对小型无人机长航时、高精度的导航要求,研究了一种低成本、高性能小型无人机组合导航系统。构建了由惯性元件、气压高度计和双天线GPS姿态测量系统构成的组合导航计算平台,采用了基于FPGA的SOPC技术,实现了系统功能的高度集成。针对信息融合算法中滤波延时较大的问题,采用了非对称双核的设计,在进行卡尔曼滤波的同时完成了捷联解算,大幅提高了导航信息的更新频率。
According to the navigation requirements of long endurance and high precision for small UAV,a lowcost high performance integrated navigation system for small UAV is discussed.Integrated navigation computing platform composed by intertial elements,analog altimeter and double antenna GPS attitude measurement system is built.By using the SOPC technology based on FPGA,the highly integration of system function is realized. Considering the filtering delay in information fusion algorithm,asymmetric dual-core design is used,so Kalman filter and the strapdown solution are completed at the same time,so the navigation information update frequency is greatly improved.
出处
《测控技术》
CSCD
北大核心
2013年第12期32-36,共5页
Measurement & Control Technology
基金
西北工业大学基础研究基金(JC201205)
关键词
组合导航
非对称多核
SOPC
integrated navigalion
asymmetric multiprocessor
SOPC
