一种基于TMS320C6713的捷联惯导系统设计

Design of a strapdown inertial navigation system based on TMS320C6713

为适应目前捷联惯性导航系统(SINS)实时性好、速度快、精度高、小型化、低功耗发展需求,设计一种DSP+FPGA的捷联惯导系统平台,采用FPGA完成传感器数据采集与控制;采用高性能TMS320C6713DSP为核心处理器完成航姿解算;介绍了FPGA与DSP数据交互关系;DSP程序采用C语言和汇编语言编写,FPGA设计采用VHDL语言描述;实验证明:设计可行,姿态角误差在0.05°范围内,精度符合设计要求。

To adapt to development needs for good real-time,fast speed,high precision,small size,low power consumption,of current SINS design a DSP ＋ FPGA SINS platform,use FPGA to complete sensor data acquisition and control; use high performance TMS320C6713 DSP as the core processor to complete attitude and heading reference system（ AHRS）; describe interaction relationship between FPGA and DSP; DSP programs are compiled by C language and assembly language,FPGA design is described using VHDL language; test proves the design is feasible,the errors of attitude angle is within 0. 05,the precision is up to design criterion.