Realization of Vehicle SINS Four-Position Alignment Method Based on FPGA and DSP

摘要

Accuracy of initial alignment has a direct impact on the accuracy of SINS navigation. Kalman filtering technology can realize SINS optimal estimation, but fixed position SINS is unobservable. The four-position alignment method can make SINS become completely observable, and improve the precision of SINS initial alignment. In this chapter, data acquisition and navigation calculation system were designed based on FPGA and DSP. FPGA acquired IMU data, generated PWM signal to make IMU base rotate, and realized LAN interface circuit to transmit IMU measurement data to CPU. DSP realized the four-position alignment method and navigation calculation. The real vehicle experiment verified the feasibility of DSP and FPGA system and validity of the four-position alignment algorithm.