基于FPGA与DSP的INS/BDS组合导航数据精确对准方法

Data alignment method based on FPGA and DSP in INS/BDS integrated navigation system

INS/BDS组合导航数据来源于不同的分系统,而不同系统之间在硬件和软件方面的因素都会导致系统间数据不同步,影响最终组合导航精度。可见在组合导航的应用中数据对准非常重要。针对这一问题,采用FPGA+DSP小型导航解算平台实现INS/BDS组合导航数据对准的方法。将BDS接收机的1PPS所激发的可调脉冲作为中断,通过FPGA主控芯片的控制实现对惯性传感器以及卫星导航模块的数据采集编帧和计时,然后由DSP实现对时延误差的计算以及外推拟合补偿,从而达到INS/BDS实时数据同步对准的目的。多次试验对比表明,该方法能够将位置精度提高50%左右,能够达到并且完成数据对准的要求,有一定的工程应用价值。

INS/BDS integrated navigation data comes from different subsystems, but the hardware and software factors between different systems will lead to data synchronization between the systems, which will affect the final integrated navigation accuracy. It can be seen that data alignment is very important in the application of integrated navigation system. Aiming at this problem, a INS/BDS integrated navigation data alignment method is realized by using FPGA+DSP small navigation solution platform. The adjustable pulse excited by 1 PPS of BDS receiver is used as interrupt, and the inertial sensor and satellite navigation module are captured and framed by FPGA control chip. Then the delay error is calculated and compensated by DSP, so as to achieve the synchronous alignment of INS/BDS real-time data. Experimental results show that this method can improve the position accuracy by about 50%, and can meet the requirements of data alignment, which has certain engineering application value.