Algorithm Research And DSP Realization Of Optical Fiber Gyro Strapdown Inertial Navigation System

Fiber optic gyro strapdown inertial navigation system with the characteristics of strong autonomy,high precision,wide application range and long service life etc.in the field of navigation is more and more widely used.Therefore,it is of theoretical significance and engineering value to study the algorithm of high precision FOG Strapdown Inertial Navigation system.fiber optic gyro strapdown inertial navigation system has become an important kind of navigation equipment.In this paper,fiber optic gyro strapdown inertial navigation system as the research object,first elaborated the strapdown inertial navigation and navigation parameters of basic working principle and common coordinate system of navigation algorithm;then the sins attitude algorithm,velocity updating algorithm improvement and Simulation of Strapdown algorithm as the focus;the final implementation of the strapdown algorithm on the DSP of.The main research contents of this paper include:(1)for fiber optic gyro strapdown inertial navigation system inertial angular rate and more output for this problem,the traditional attitude update algorithm,designed the rotation vector algorithm based on angular rate;the traditional updating speed is improved,the design of sculling angular rate compensation algorithm based on the comparison with the.After the improvement of attitude algorithm and speed algorithm,the two algorithms are optimized separately.Then the two improved algorithms are simulated respectively.The simulation results show that the improved algorithm has improved the accuracy significantly.(2)In the complete algorithm and speed of attitude updating improved update algorithm,algorithm design and Simulation of trajectory generator,angular rate and more information on strapdown inertial components outputs,the improved algorithm respectively in the static environment and dynamic environment simulation.Static environment simulation shows the accuracy of the algorithm,and the dynamic environment simulation shows that the accuracy of the improved strapdown algorithm is improved compared with the traditional strapdown algorithm.(3)An improved strapdown algorithm DSP system is designed.DSP chip used TI's TMS320F28335 method,using the C programming language will be transplanted to the strapdown algorithm from the PC DSP CCS integrated development environment,the simulator interface will be loaded into the TMS320F28335 chip program algorithm.When the strapdown algorithm is implemented,the serial debugging module transfers the inertial device data to the DSP chip at a fixed sampling frequency through the RS232 interface,and the DSP chip calculates the data through the strapdown algorithm after receiving the data.(4)the improved strapdown algorithm is implemented on the DSP system.The on-board experiment is carried out to obtain the measurement data of the real inertial device.The measurement data input DSP system of IMU,and the strapdown algorithm under the matlab calculation results were compared under two IMU results.The results show that the accuracy of strapdown inertial navigation system design DSP.