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Received:April 20, 2011 Revised:May 17, 2011
Received:April 20, 2011 Revised:May 17, 2011
中文摘要: 针对惯性导航系统成本较高精度低无法广泛使用,设计了一种新型的自主式微惯性导航系统,采用DSP作为导航解算和控制的核心处理器。导航解算算法利用四元数理论进行编写,进而确定载体的速度、位置和姿态。实验结果表明,相对数值误差为10-4%,测试相对误差为10-3%,计算时间为40μs。系统大大降低仪器的重量、成本、体积,具有广阔的市场应用前景。
Abstract:Inertial Navigation System can hardly be used because of its high cost and low accuracy. A new type of autonomous inertial navigation system is designed. It uses DSP as the navigational calculating and controlling processor. The arithmetic of navigational calculating is based on quaternion algorithm so as to determine the object's speed, position and posture. The result indicates that relatively numerical deviation is 10-4%, relatively test deviation is 10-3% and calculation time is 40μs. The weight, cost, volume is reduced in this design. It has wide market application prospect.
keywords: strapdown inertial navigation quaternion algorithm DSP
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引用文本：
陈凯,张倩怡,殷志国.捷联式惯性导航仪设计.计算机系统应用,2011,20(12):105-108
CHEN Kai,ZHANG Qian-Yi,YIN Zhi-Guo.Design of Strapdown Inertial Navigation System.COMPUTER SYSTEMS APPLICATIONS,2011,20(12):105-108
陈凯,张倩怡,殷志国.捷联式惯性导航仪设计.计算机系统应用,2011,20(12):105-108
CHEN Kai,ZHANG Qian-Yi,YIN Zhi-Guo.Design of Strapdown Inertial Navigation System.COMPUTER SYSTEMS APPLICATIONS,2011,20(12):105-108
