基于OMAPL138与FPGA的惯性姿态测量系统设计与实现

摘要

为了满足高性能、低成本及多接口的惯导使用需求,设计一种基于OMAPL138+ FPGA的大存储空间惯性姿态测量系统;系统设计充分利用OMAPL138的异构双核结构,结合每种处理器应用特点,进行任务划分并构建硬件平台;设计了丰富的外围接口,通过选择接入GPS、北斗或里程计,能够实现多种组合导航方式;根据使用环境提出惯导与里程计组合导舷方案和相应软件流程,并进行了姿态精度测量及导航定位精度试验;姿态测量精度优于0.5密位,纯惯性导航定位精度为0.3‰D(CEP),组合导航的定位精度为0.14‰,试验结果表明,系统稳定可靠,硬件平台满足惯导计算机设计需求.%In order to meet the high capability,low cost and multi-interface requirements for applications of inertial navigation systems,an inertial attitude determination system with big storage space based on OMAPL138 and FPGA was designed.By making full use of OMAPL138's heterogeneous dual-core architecture,task partition and hardware platform construction were achieved on the basis of each core's characteristics.The system in this paper was designed with plentiful peripheral interfaces,so it was able to connect with GPS,Big Dipper or odometer to actualize an integrated navigation.According to the application environment,a navigation scheme integrating inertial with odometer was proposed,and appropriate software flowchart was designed.After attitude precision measurement experiment and navigation precision experiment,attitude measurement precision is better than 0.5 mil,pure inertial navigation precision is 0.3‰ D (CEP),and integrated navigation precision is 0.14‰ D (CEP).The experiment results show that the system is stable and reliable,and hardware platform meets the demands of inertial navigation computer.