The Implementation Of Carrier Attitude Anglede Coding Algorithm Based On MEMS Senor And FPGA

Now attitude measurement systems in the attitude solution are most basically to achieve the use by single-chip, ARM, DSP, or in FPGA soft core processor, they may have restrictions on the processing speed and real-time, some processes can not work at the same time, as a result it may affect the speed of attitude solution. The main topic of this paper is a study of full digital logic implementation of attitude angle coding algorithm and it aims to improve the speed of attitude angle coding algorithm and improves the reliability of the data.According to the hardware structure of FPGA, the design achieve the parall el and pipeline structure;according to the characteristics of digital logic FPGA, s elect the appropriate settlement of attitude angle coding algorithm. This design mainly includes the several parts: acquisition of sensor data module, information fusion module,attitude angle coding algorithm module and PC communication etc.The advantages and disadvantages of complementary fusion filter and Kalman filter are compared, and according to the characteristics of FPGA digital logic,this paper choose the complementary filter as the appropriate filter; in the aspect of the high calculation speed, this paper use the pipeline structure to achieve CORDIC algorithm; this paper finally decides to choose quaternion as the coding algorithm to improve the efficiency of design and the accuracy of the data.The design combine quaternion and complementary fusion to deal with the data and comunicate with the PC.The design tests and verifies the correctness by the logic analyzer and seri al debug assistant,the result show that this design can basically complete the goal of the target and it hassome theoretical and practical value.