多江勒雷达/光纤捷联惯导组合导航同步方法研究

摘要

针对采用ARINC429总线通信的多普勒雷达/光纤捷联惯导直升机机载自主组合导航系统的时间同步问题,提出了一种有效的多普勒雷达同惯导间的软件同步方法;通过判断ARINC429总线上多普勒雷达信号的Label位标志,结合光纤捷联惯导的5ms中断时刻和嵌入式导航计算机提供的计时器,采用插值和外推的方法实现了多普勒雷达与光纡捷联惯导间信号的同步；最后对所设计的系统进行了长航时地面动态跑车试验,系统经同步后的的定位精度验证了所提方法的合理性和有效性.%Aiming at solving the time synchronization problem in Doppler Radar/Fiber Optical Gyroscope Strapdown Inertial Navigation System (FOG-SINS) integrated autonomous navigation system of helicopters where Doppler Radar sends data through ARINC429 data bus, an effective software algorithm of synchronization was designed. By judging the label-bit symbol of Doppler data sent through ARINC429 data bus, combined with the 5ms interrupt time of FOG-SINS as well as timer provided by DSP, the problem was solved using linear interpolation and extrapolation. Finally, aiming to validate the rationality, a long endurance van test was conducted , the excellent navigation result indicates the efficiency of the designed method.