基于FPGA的MEMS捷联惯性导航系统设计

Design of MEMS Strapdown Inertial Navigation System Based on FPGA

针对石油、煤矿等特殊环境中对小型化捷联惯性导航系统的需求,设计并实现了基于现场可编程门阵列(FPGA)单芯片控制的微机电系统-惯性测量单元(MEMS_IMU)小型化捷联惯性导航系统。系统采用ADI公司的MEMS_IMU作为惯性器件,主控芯片使用Cyclone III系列FPGA,采用可编程片上系统(SOPC)工作模式,最终制成尺寸4cm×11cm的捷联惯导系统。系统实现了数据采集、误差补偿、导航解算以及与上位机通信等功能。实验结果表明,系统能满足在钻井等小尺寸测量环境中使用,连续姿态变换过程中姿态误差小于2°,实现稳定工作。

In view of the requirement of the small size strapdown inertial navigation system in the special environments such as oil,coal mine and so on,a strapdown inertial navigation system based on FPGA single chip control and MEMS IMU is designed in this paper.The system uses ADI MEMS IMU as the inertial component,cyclone III series FPGA as the control chip,and the System on Programmable Chip（SOPC）operating mode to construct a strapdown inertial navigation system with the size of 4cm×11cm.The system realizes the functions of data acquisition,error compensation,navigation solution and communication with the host computer.The experimental results show that the system can meet the requirements of small size measurement environments such as drilling etc.The attitude error is less than 2°during the attitude changing process with steady operation.