Field Programmable Gate Array Based Parallel Strapdown Algorithm Design for Strapdown Inertial Navigation Systems.docVIP
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Sensors 2011, 11, 7993-8017; doi:10.3390/s110807993
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
Field Programmable Gate Array Based Parallel Strapdown
Algorithm Design for Strapdown Inertial Navigation Systems
Zong-Tao Li 1, Tie-Jun Wu 2, Can-Long Lin 1,2 and Long-Hua Ma 2,*
1
Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China;
E-Mails: ztli@ (Z.-T.L.); canlonglin@ (C.-L.L.)
2
Institute of Navigation Guidance and Control, Zhejiang University, Hangzhou 310027, China;
E-Mail: tjwu@ (T.-J.W.)
* Author to whom correspondence should be addressed; E-Mail: lhma@;
Tel.: +86-571-8795-2841; Fax: +86-571-8795-2841.
Received: 4 July 2011; in revised form: 3 August 2011 / Accepted: 11 August 2011 /
Published: 15 August 2011
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
a
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