基于浮点DSP的航姿系统自适应滤波算法与仿真研究

Adaptive Filtering Algorithm and Simulation for Strapdown AHRS with Floating Point DSP

介绍了在捷联式航姿系统中采用的简化 Sage-Husa算法的自适应滤波原理 ,建立了基于该自适应滤波算法的导航系统状态方程和观测方程 ,给出了基于 TMS3 2 0 C3 2浮点数字信号处理器 (DSP)的半物理仿真硬件原理图和软件运行流程 ,并进行了仿真计算。仿真分析结果表明 ,基于浮点 DSP的航姿系统在采用自适应卡尔曼滤波算法时不仅能有效抑制滤波发散 ,还使系统具有优越的实时性能和较高的精度。

The theory about reduced adaptive filter using Sage-Husa algorithm is described. According to the algorithm, the status equation and observation equation are set up for the Strapdown attitude and heading reference system (AHRS), then the hardware scheme and software flow based on floating point TMS320C32 DSP are presented. Simulational result shows that adaptive Kalman filtering algorithm with floating point DSP can effectively restrain the divergence and has predominant real-time performance and high precision.