光学捷联基准导航计算机设计与实现

为满足当前光学捷联基准解算精度高、低功耗、小型化的需求，设计了一种基于现场可编程门阵列（FPGA）和数字信号处理器（DSP）为核心的嵌入式导航计算机。对导航计算机（ENC）硬件设计进行了阐述，并重点研究了导航计算机信息处理模块（MPM）和数据采集通信模块（DCM）的协同使用，充分体现了DSP和FPGA联合使用的优点。其次，研究了基于主惯导航向和计程仪速度组合的Kalman滤波器设计，以解决长时间工作对系统精度的影响。最后，将该导航计算机实际应用于捷联基准中，通过半实物仿真试验，验证了导航计算机硬件方案的可行性和Kalman滤波器设计的合理性。结果表明，基于FPGA和DSP双核的嵌入式导航计算机性能稳定，设计合理，满足光学捷联基准高精度、低功耗的使用要求。

Design and Realization of Optical Strapdown Standard Navigation Computer

In order to meet the the requirements of high precision，low power and miniaturization of current optical notes and even benchmarks，an embedded navigation computer based on FPGA and DSP processor is designed.Navigation computer hardware design is described and focused on the cooperative use of MPM and DCM，which fully embodies the adbantages of joint use of DSP and FPGA.Moreover，for eliminating the influence of long time working on system accuracy，the design of Kalman filter based on the combination of main inertial navigation direction and log speed has been studied.Finally，the navigation computer has been applied to the strapdown reference，and the feasibility of the hardware scheme of the navigation computer and the rationality of Kalman filter design has been verified.It is showed that the ENC based on FPGA and DSP was more stable，reasonable and feasible.The results show that the performance of the embedded navigation computer based on FPGA and DSP dual core is stable，the design is reasonable,and meets the requirements of optical section，continuous reference，high precision and low power consumption.