Abstract
A new generalized optimum strapdown algorithm with coning and sculling compensation is presented, in which the position, velocity and attitude updating operations are carried out based on the single-speed structure in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effects. Different from existing algorithms, the updating rates of the coning and sculling compensations are unrelated with the number of the gyro incremental angle samples and the number of the accelerometer incremental velocity samples. When the output sampling rate of inertial sensors remains constant, this algorithm allows increasing the updating rate of the coning and sculling compensation, yet with more numbers of gyro incremental angle and accelerometer incremental velocity in order to improve the accuracy of system. Then, in order to implement the new strapdown algorithm in a single FPGA chip, the parallelization of the algorithm is designed and its computational complexity is analyzed. The performance of the proposed parallel strapdown algorithm is tested on the Xilinx ISE 12.3 software platform and the FPGA device XC6VLX550T hardware platform on the basis of some fighter data. It is shown that this parallel strapdown algorithm on the FPGA platform can greatly decrease the execution time of algorithm to meet the real-time and high precision requirements of system on the high dynamic environment, relative to the existing implemented on the DSP platform.
Highlights
In a strapdown inertial navigation system (SINS), inertial sensors are rigidly attached to the vehicle, which leads to the system suffering from the highly dynamic vehicle movement environment
It provides the motivation to return to a simpler single-speed structure of the strapdown algorithm in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effects
A new generalized optimum strapdown algorithm with coning and sculling compensations is presented in Section 2, in which the PVA updating operations are carried out based on the single-speed structure in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effects
Summary
In a strapdown inertial navigation system (SINS), inertial sensors are rigidly attached to the vehicle, which leads to the system suffering from the highly dynamic vehicle movement environment. Improve the accuracy of these algorithms, the updating rate must be increased to keep track of vehicle angular and linear motions more accurately Among these existing algorithms, when the sampling rates of inertial sensors remain constant, and the number of the gyro incremental angle samples for coning compensation and the number of the accelerometer incremental velocity samples for sculling compensation are selected, the updating rates of these algorithms are determined. A new generalized optimum strapdown algorithm with coning and sculling compensations is presented, in which the PVA updating operations are carried out based on the single-speed structure in which all computations are executed at a single updating rate that is sufficiently high to accurately account for high frequency angular rate and acceleration rectification effects.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
