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The Research of Strapdown Inertial Navigation System Based on MEMS

Author: LiangGu
Tutor: SunYao
School: Harbin Engineering University
Course: Control Theory and Control Engineering
Keywords: Field Programmable Gate Array Micro Inertial Measurement Unit The Strapdown Inertial navigation system
CLC: TN966
Type: Master's thesis
Year: 2008
Downloads: 502
Quote: 3
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Abstract


In recent years , DSP technology development , has been applied to many areas , specific hardware structure is very suitable for a variety of algorithms for processing large amounts of data , and has the advantages of high efficiency, high-speed , high-precision , the algorithm processing to be done in many of the current field the preferred device for embedded systems . As VLSI technology continues to improve , the field programmable gate array (FPGA) chip can achieve more powerful . It has the advantages of short development cycle , low cost , and can be repeatedly erased and programmed and easy to develop , has become the trend of the development of contemporary electronic design technology . The micro inertial gyroscopes and accelerometers the strapdown navigation equipment , the micro inertial strapdown navigation system has become the hotspot of inertia technology . This system is small and the large amounts of data need to be kept up-to- solver . It is in this context , this paper based micro- inertial strapdown DSP FPGA embedded system hardware circuit design . The paper first introduces the development status of MEMS inertial sensors as well as the basic principles of the SINS gives the theoretical basis of the system design and use of the parallel axes redundant technology design strapdown inertial navigation system based on MEMS , through actual debugging the system is stable, but the accuracy to be improved , so put forward the concept of the use of the inclined shaft redundant technical design four-axis micro inertial measurement . Complete hardware and software design of embedded systems . Finally, the micro inertial gyroscope and accelerometer data acquisition test . Micro Inertial Measurement combination of design and hardware systems is the focus of this article . The system hardware platform architecture is made by a single DSP single FPGA , DSP focus on strapdown algorithm solver , while the FPGA is the interface between the DSP and the various types of sensors , similar to a front-end components of the DSP . The software part of the system mainly for DSP minimum system programming , including the CMD file preparation as well as part of the module design of the driver . Reliable system debugging and testing process , system hardware and software work to achieve the basic functions of the SINS .

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