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Field Programmable Gate Array Based Parallel Strapdown Algorithm Design for Strapdown Inertial Navigation Systems.doc

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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