Research On SINS Navigation Algorithm And Its Parallelization Under High Dynamic Conditions

Along with the rapid development of computer technology, strapdown inertial navigation system(SINS) has basically replaced platform inertial navigation system, and become the general trends of inertial technology. However, under the high dynamic environment, violent vibrations of the vehicle request high requirements on navigation systems, navigation computers with traditional serial computing mode are also faced with great challenges. To ensure the accuracy of navigation system under high dynamic environment, this thesis made new improvements to the navigaiton algorithm, and researched the parallel implementation of the algorithm based on FPGA technology. Specifically, the research of this thesis includes the following aspects:(1)This thesis systematically researched the algortithm of SINS, and improved the multi-rate algorithm, put forward a kind of single-rate algorithm to increase the algorithm excution rate.(2)According to the parallel computing characteristics of FPGA devices, this thesis abandoned traditonal serial computing method, and provides paralled process for the algorithm, then attitude, speed, location and earth-related parameters could be updated parallelly.(3)This thesis provided modular motheds for navigation algorithm, divided SINS algorithm into four modulars:attitude computing, speed computing, location computing and earth-related parameters computing modular, and analyzed the amount of calculation to prove that parallel computing algorithm has great speedup.This thesis systematically researched the algortithm of SINS, and its parallel process method, it is helpful to improve the level of research on high-speed navigation algorithm, and makes preparations for high-speed hardware implementation of SINS algorithm.