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...
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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.
The inertial navigation system (INS) has been playing a prominent role in space navigation applications. However, the selected order of conventional integration schemes limits the computational accuracy of the strapdo...
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The inertial navigation system (INS) has been playing a prominent role in space navigation applications. However, the selected order of conventional integration schemes limits the computational accuracy of the strapdown INS (SINS) and its availability during different mission phases of space flight. A space-oriented SINS scheme, based on modern multispeed (two/three-speed) algorithms, is implemented in this paper to meet the increasing space navigation requirement. Instructive guidelines are proposed to promote the practical realization and computational efficiency of the improved scheme in space SINSs. Making use of Monte Carlo simulation, both the multispeed scheme and the conventional one are evaluated. Performance comparison between the algorithms indicates that the attitude algorithms associated with both schemes have the same degree of accuracy in the test scenario, and three times accuracy improvement is verified involving the velocity and position algorithms of the multispeed scheme in comparison with those of the conventional one.
Measuring the horizontal rowing oar angle in an unobtrusive way is an unsolved problem for the rowing community and an interesting field for ubiquitous computing. We present the design and implementation of a new rowi...
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ISBN:
(纸本)9780769550220
Measuring the horizontal rowing oar angle in an unobtrusive way is an unsolved problem for the rowing community and an interesting field for ubiquitous computing. We present the design and implementation of a new rowing oar angle measurement system that is based on an inertial measurement unit mounted inside the rowing oar and a user interface running on a waterproof smartphone. As well as proving the feasibility, we evaluate the accuracy of our system by comparing its performance with a more obtrusive system which is currently state-of-the-art. The mean deviation of the stroke length measurements between both systems is 1.81%.
In order to meet the miniaturization, low power, low cost and increasingly high precision requires of strapdown navigation system, the strapdown Navigation Computer based on DSP and FPGA is researched in this paper. D...
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ISBN:
(纸本)9783038350019
In order to meet the miniaturization, low power, low cost and increasingly high precision requires of strapdown navigation system, the strapdown Navigation Computer based on DSP and FPGA is researched in this paper. DSP is used to process the data. The FPGA has functions of data collected and I/O controlled etc, the dual-port RAM interface complete the data communication between DSP and FPGA. Two CPU give full play to their respective characteristics, the coordinated work, can complete the function of the navigation computer well.
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