Synchronous Collection Design Of Imu Deformation Data Measure Based On CPCI Bus

IMU installed on large ships can provide high precision location parameters for various equipment of the ship.However,due to the ship hull deformation,the ship's coordinate basis is misaligned,the sharing of spatial information is reduced and the coordinated operational error is increased.To improve the operational performance of military ship weapons and equipment,a precise measurement of the angle of the hull deformation is of great importance.The laboratory uses the Kalman filtering method based on angular velocity to estimate the angle of the hull deformation.This method establishes the measuring equation based on the angular velocity difference of the output of the IMU located in different position of the ship.It is impossible to guarantee the synchronicity of the angular velocity measuring because of the independently working of each IMU in actual deformation measurement system.So we verify the effect of the synchronicity on the measuring accuracy of hull deformation angle by the simulation.To ensure the synchronization of angular velocity,this paper establishes the data synchronization acquisition system from the hardware perspective.The second pulse signal,which is output by the beidou receiver,is used to calibrate the trigger pulse of different IMU internal units.The main function unit is the synchronous data collection card.Firstly,a synchronous data collection card scheme based on CPCI bus is proposed and then choose suitable device for each module and complete hardware circuit design.Secondly,implement the coding of program code and complete the coding of FPGA internal time synchronization module,serial data receiving module,tags and caching module with Verilog HDL.According to the requirement of synchronization data collection system,using WinDriver to complete driver development and upper level machine interface application development.Finally,design experiments to verify the synchronization of dada collection cards.The experiment result shows that using the data collected by data collection card to estimate the angular hull deformation can satisfy requirement of accuracy.Synchronous data collection cards can provide reliable data support for angular velocity matching algorithms and provides guarantee for the smooth expansion of the subsequent hull deformation algorithm.