针对捷联航姿系统高精度、小型化、高可靠性的发展需求,文中研究并实现了基于DSP+CPLD导航计算机的光纤航姿参考系统,在导航计算机设计中充分体现了DSP处理器实时解算和CPLD控制信号的双重优点.系统软件可实现加电BIT、磁罗差标定、CRC校验的存储器自检、捷联航姿解算和模糊自适应内阻尼卡尔曼滤波等功能.通过大量的试验验证了硬件的可靠性和算法的有效性.样机实验结果表明基于DSP和CPLD导航计算机的捷联惯性航姿系统性能稳定,满足系统的精度设计要求.%For development requirements of high-precision, miniaturization, reliability in the Strapdown AHRS, an optical AHRS based on DSP+CPLD navigation computer was designed and realized. During the design of navigation computer,the dual advantages of the realtime solving function of DSP and signals control of CPLD were considered. Realization of Strapdown AHRS software included fallowing functions,such as power BIT,magnetic compass calibration,CRC memory self-test,AHRS algorithm and Damp Kalman filtering. The Experiments prove that the system hardware is reliable,the software is available. Experiment results showed that the physical prototype of Strapdown AHRS based on DSP and CPLD navigation computer had wonderful performance and it can satisfy the accuracy requirements of required system.
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