摘要
为了实现低成本小型制导武器的小型化和低成本化,设计了微型捷联惯导计算机系统;充分利用ARM器件和MEMS器件的微型化特点,以ARM嵌入式处理器为核心,MEMS微惯性测量单元为敏感器,构建了捷联惯导系统的硬件平台。根据捷联惯导系统原理,通过对姿态更新和位置速度更新算法的研究编写了硬件可执行程序;然后,进行了捷联惯导的定位和测姿试验;结果表明以ARM作为微型捷联惯导计算机满足了设计要求,系统稳定可靠。
In order to reduce the cost and miniaturize the size of precision guide weapons, a micro strapdown inertial navigation computer system was designed. Due to the miniaturization of ARM embedded processor and MEMS inertial sensor, the hardware platform was con- strueted with components of ARM and MEMS. On the basis of the theory of stapdown inertial system, a kind of attitude--updating and navi- gation-information-updating arithmetic was brought forward and a program able to execute on the hardware was designed. Experiments were carried out. The result concludes that the micro strapdown inertial navigation computer based on ARM can runs steadily and satisfies the design requirement of many mini aircrafts.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第7期1606-1608,共3页
Computer Measurement &Control
基金
西北工业大学科技创新基金(2008KJ02010)
关键词
ARM
SPI
捷联惯导
四元数法
ARM
SPI
strapdown inertial navigation
quaternion
