基于ARM和FPGA的船舶姿态测量系统的设计

Design of Ship Attitude Measurement System Based on ARM and FPGA

姿态测量系统是船舶运动控制系统和组合导航系统中的关键一环。为了满足测量的实时性和准确性,基于扩展卡尔曼滤波的姿态解算方法,充分利用STM32丰富的片内外资源和FPGA快速的硬件处理速度,设计了一种基于STM32和FPGA的主从结构的船舶姿态测量系统。所提船舶姿态解算方法使用四元数形式进行姿态描述,避免了采用欧拉角形式带来的角度奇异问题以及方向余弦矩阵形式带来的计算量过大问题。实验结果显示所提出的方法能够获得较好的测量实时性和准确率。

Attitude measurement system is a key part of ship motion control system and integrated navigation system.In order to meet the instantaneousness and accuracy of measurement,a ship attitude measurement system with master-slave structure based on ARM and FPGA is designed according to the attitude solution method of extended Kalman filter,making full use of the rich on-chip and off-chip resources of ARM and the fast hardware processing speed of FPGA.The ship attitude solution method adopts four element form to describe the attitude,which avoids the problem of angle singularity caused by Euler angle form and the problem of too much calculation caused by direction cosine matrix form.Experimental results show that the proposed method can obtain better instantaneousness and accuracy.