CAJ | 학술논문

为满足捷联惯导系统小型化、高精度、低成本的要求，构建了基于软处理器核的姿态检测系统，提出了磁罗盘辅助MEMS惯性传感器的卡尔曼滤波算法。在FPGA平台上，围绕MicroBlaze构建片上系统，设计双软件工程实现系统软件开发；在此基础上，为提高系统的实时性能，综合3种片上系统优化方案，进一步优化了处理器对片外RAM的访问效率。测试结果表明，优化后的片上系统运算速度是优化前的近10倍。实验中将该系统测得的姿态角与航姿参考系统（atti-tude and heading reference system，AHRS）测量值进行比较，其差值保持在0．8°以内，表明该系统能够满足导航系统的姿态检测要求。
위만족첩련관도계통소형화、고정도、저성본적요구，구건료기우연처리기핵적자태검측계통，제출료자라반보조MEMS관성전감기적잡이만려파산법。재FPGA평태상，위요MicroBlaze구건편상계통，설계쌍연건공정실현계통연건개발；재차기출상，위제고계통적실시성능，종합3충편상계통우화방안，진일보우화료처리기대편외RAM적방문효솔。측시결과표명，우화후적편상계통운산속도시우화전적근10배。실험중장해계통측득적자태각여항자삼고계통（atti-tude and heading reference system，AHRS）측량치진행비교，기차치보지재0．8°이내，표명해계통능구만족도항계통적자태검측요구。
A new kind of attitude determination system based on soft-processor core was proposed,which met the requirements of miniaturization,high-precision and low-cost for SINS.The Kalman filter combined with MEMS and magnetic compass was al-so proposed.Taking the McircoBlaze as the processor,SOC (system-on-a-chip)based on FPGA was built.On the hardware platform,a novel structure of double software proj ects was designed to develop the system software.In addition,to improve the processor accessing SDRAM efficiency,SOC was optimized by three means.Experimental results showed that the operation effi-ciency on SOC after optimization was nearly 10 times faster than before.Finally,the system output was compared with a com-mercial AHRS (attitude and heading reference system).Analysis indicated that the deviation between them kept below 0. 8°, which proved the system proposed was qualified for navigation application.