基于国产DSP多传感器融合姿态解算系统

Multi-sensor fusion attitude calculation system based on domestic DSP

随着战场上作战方式的多样化、智能化,对作战辅助系统也提出了更高的要求。驾驶员在装甲车辆内部(全封闭环境下),为更快捷地获取不同角度的广阔视野,亟需一种通过解算人体头部姿态来控制光电设备随动的系统。文中提出一种融合图像传感器和陀螺传感器各自优势的人体头部姿态解算系统,该系统以双图像传感器数据解算为主,陀螺传感器数据解算为辅,融合了图像传感器解算精度高、陀螺传感器解算速度快的优势。该系统以国产DSP FT-M6678N为核心处理器,设计了三核并行处理架构,核0实现数据交互、多核数据融合,核1、核2实现双相机各自通道姿态解算。搭建实装验证环境,结果表明该系统较以往单传感器解算系统在精度、实时性、环境适应性上有明显提升,为头部姿态解算提供了新思路。

In recent years,the diversification and intelligence of combat modes on the battlefield have put forward higher requirements for combat assistance systems.To obtain a wide field of view from different angles more quickly,drivers,in armored vehicles(a fully-enclosed environment),need a system to control the follow-up of the photoelectric equipment by calculating posture of human head.A human head posture calculation system which combines the advantages of image sensor and gyro sensor is presented.The system is mainly based on the data calculation of dual image sensors,supplemented by the data calculation of gyro sensor,which combines the advantages of high accuracy of image sensor and high speed of gyro sensor.In this system,a three-core parallel processing architecture is designed by using domestic DSP FT-M6678N as the core processor.Core 0 is used to realize data interaction and multi-core data fusion,and core 1 and core 2 are used to realize the attitude settlement of each channel of the dual cameras.A verification environment for real equipment is built.The results show that the system has improved the accuracy,real-time performance and environmental adaptability significantly in comparison with the previous single-sensor solution system,so it provides a new idea for head posture calculation.