Laser Gyrocompass Software System Design

With the diversification of the civilian market demand,research miniaturization,with high precision,affordable marine inertial navigation system is of great significance.This paper focuses on the laser gyro SINS key technology to realize SINS update algorithm,aspects compass circuit design and development of display and control software systems,as well as compass channel realization algorithm research and design.Update algorithm ultimately SINS SINS system technology,laser gyro inertial attitude update,the solution speed calculation,and finally own the project,completed his responsibility has Matlab simulation,converted to laser gyro compass software The C ++ language code.The main contents of this paper are as follows:1.The analysis AHRS attitude solver calculation method used in the process,the speed of updating the calculation method used to analyze samples and more children were studied.There can not be exchanged for attitude update error calculation method using sub-sample rotation vector expressed in this article focuses on four.Using moving parabolic carrier angular motion information.Through simulation shows four sub-sample algorithm has improved greatly in a special cone environment.Update on the speed calculated two sub-samples and four sub-sample of the algorithm,and gives a detailed sculling formula.In actual use of an inertial navigation system,the best method is based on motion characteristics of the sub-carrier itself,the selected number of samples obtained,in fact,is also affected by time and chip hardware.2.Studied the initial inertial system inertial frame alignment coarse alignment,and detailed on the inertial frame coarse alignment programs and principles were analyzed separately using inertial frame alignment after crude way Kalman The method,which is now frequently used method of inertial navigation.But the longer the computation time.The time it takes to try to align short and precision required to achieve the desired requirements.So detailed compass circuit design,since theoretically know it does not apply to the completion of high dynamic tasks,but the method in this paper and compared to the actual appropriate.3.According to the requirements given laser gyrocompass software program implementation are given a vector of four elements and matrix conversion and C ++ class design,and finally gives the compass circuit core algorithm C / C ++ realization4.Laser gyro compass software system design based on given design data acquisition and serial,and the realization of mixed programming with Matlab and Microsoft Visual C ++.Microsoft Visual C ++ is available in real-time scores appear curve,although the objective is clearly shown in real-time dynamic errors.5.Hardware-based PC display,and the ability and lower machine interaction and communication,including to the next bit machine,alignment instruction,and increase GPS,IMU data collection and on the host computer for data processing and presentation.And be able to save the data for the study of the initial alignment and posture updating substantial help,so that the new algorithm can be given theoretical and practical study,the latter can be written in real-time DSP operations.This innovation:1.A detailed update deduced posture and speed of more detailed sub-sample derivation formula.2.Giving a detailed circuit design compass and implementation code.3.Giving the software design architecture diagram and design ideas.