摘要
针对单一导航方式定位精度不足、导航数据无法实时显示的问题,设计了一种基于ZYNQ平台的组合导航系统。系统主要包括ZYNQ主控芯片、惯性传感器、卫星接收机、LCD显示屏以及SD卡存储单元,在PL端完成传感器数据采集,在PS端完成EKF组合导航算法的计算,最终通过LCD显示屏实时显示导航数据,并将数据存储至SD卡中。实验测试结果表明:该系统稳定可靠,位置误差可控制在1.5m左右、速度误差可控制在0.1m/s左右、姿态误差可控制在0.5°左右,并能够实时显示载体在运动过程中的各导航参数。
Aiming at the problems of insufficient positioning accuracy and real-time display of navigation data in a single navi⁃gation mode,an integrated navigation system based on ZYNQ platform is designed.The system mainly includes ZYNQ main control chip,inertial sensor,satellite receiver,LCD display screen and SD card storage unit.The sensor data acquisition is completed at the PL end,and the calculation of EKF integrated navigation algorithm is completed at the PS end.Finally,the navigation data is displayed in real time through the LCD display screen and stored in the SD card.The experimental results show that the system is sta⁃ble and reliable,the position error can be controlled at about 1.5m,the velocity error can be controlled at about 0.1m/s,the attitude error can be controlled at about 0.5°,and the navigation parameters of the carrier in motion can be displayed in real time.
作者
孟园
余海翔
张鹏
李孟委
MENG Yuan;YU Haixiang;ZHANG Peng;LI Mengwei(School of Instrument and Electronics,North University of China,Taiyuan 030051;National Key Laboratory for Electronic Measurement Technology,North University of China,Taiyuan 030051)
出处
《舰船电子工程》
2023年第11期53-58,共6页
Ship Electronic Engineering
基金
国家“173”项目(编号:2021-JCJQ-JJ-0726)资助。
