The implementation of FPGA from Matrix-Form Functional Iteration for Inertial Navigation Com-putation
The purpose of inertial navigation solution is to process the output signals of gyroscope and accel-erometer to obtain the attitude,velocity and position information of moving objects.The functional iteration algorithm(iNavFIter)reduces the motion noncommutativity errors to the level of computer truncation error,but the computational burden is about ten times more than that of the classical two-sample algorithm.In or-der to improve the computational efficiency,the iNavFIter-M algorithm proposed recently rearranges the functional iterative inertial navigation solution into a matrix-vector form.The IP core of iNavFIter-M algo-rithm is implemented on the hardware FPGA.The numerical results show that the IP core of iNavFIter-M al-gorithm designed realizes high-precision real-time computation at a sampling rate of 1000Hz.
万方数据
维普
