基于FPGA的捷联惯性导航系统设计
发布时间：2019-01-10 18:37
【摘要】：本文首先对惯性导航基本原理及作用进行了研究,并对捷联惯性导航中涉及到的数学平台解析原理和基于欧拉角法的姿态矩阵求解过程进行了分析,并最终将其确定为本论文导航解算算法的编译依据。随后,根据所设计的捷联惯性导航系统功能和性能需求对硬件电路结构和功能部件进行了设计。 在上述工作基础上,利用SOPC Builder对系统的NiosⅡ内核及各功能模块进行了搭建。用QuartusⅡ软件建立了工程文件,整合了功能模块,完成了片上系统的设计和编译工作,并生成了FPGA配置文件和工程文件。用Modelsim软件对系统功能模块进行了时序仿真完成了功能验证工作。至此整个导航系统的平台搭建完毕,随后利用Matlab软件建立了载体模拟轨迹并编写算法对载体导航信息进行了解算,得到了载体速度、位置、姿态等参数的解算结果和误差仿真结果验证了算法的可行性。
[Abstract]:In this paper, the basic principles and functions of inertial navigation are studied, and the analytical principle of mathematical platform and the solution process of attitude matrix based on Euler angle method are analyzed. Finally, it is determined as the compilation basis of the navigation algorithm in this paper. Then, according to the functional and performance requirements of the strapdown inertial navigation system, the hardware circuit structure and functional components are designed. On the basis of the above work, SOPC Builder is used to build the Nios 鈪，
本文编号：2406656
[Abstract]:In this paper, the basic principles and functions of inertial navigation are studied, and the analytical principle of mathematical platform and the solution process of attitude matrix based on Euler angle method are analyzed. Finally, it is determined as the compilation basis of the navigation algorithm in this paper. Then, according to the functional and performance requirements of the strapdown inertial navigation system, the hardware circuit structure and functional components are designed. On the basis of the above work, SOPC Builder is used to build the Nios 鈪，
本文编号：2406656
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