基于北斗接收机和iNEMO惯性传感器模块,设计了一种可用于载体运动姿态方位解算的传感信息采集微系统.针对两个导航单元存在输出数据格式、速率和接口完全不同的问题,采用双CPU+FPGA+Flash的硬件架构,并由两个处理器协同工作完成了多路大容量导航参数的实时采集、处理和存储.同步计数器将北斗输出的1PPS脉冲作为清零信号,同时考虑到iNEMO没有固定的时间参考系,在iNEMO数据中加入北斗时标信息,由硬件逻辑电路实现了子单元数据在整秒时刻的同步.试验验证了北斗1PPS秒脉冲信号的同步偏差不会影响后续滤波的精度,且该模块能稳定地输出带时间标记的三轴加速度、陀螺传感器和磁传感器数据.通过解算可得到载体位置、速度、姿态等信息.该系统体积小、功耗低、鲁棒性好,设备可重复使用,不仅能够满足单一飞航装备测试的要求,还可以结合多传感器信息融合技术,进一步提高多目标导航定位的时空精度.%Based on Beidou receiver and iNEMO inertial sensor module,the sensing information acquisition micro system is designed for solving the carrier motion attitude azimuth.Due to the differences of the output data format,rate and interface for the two navigation units,the hardware architecture of double CPU+FPGA+Flash is adopted;by collaborative operation of two processors,the real time acquisition,storage,and storage of the large volume of multichannel navigation parameters is completed.The output IPPS pulse of Beidou is used as the zeroing signal,and considering that iMEMO has no fixed time reference system,the Beidou time scale information is added for iNEMO data,so the synchronization for data of sub units at the moment of each second sharp is implemented by the hardware logic circuit.The test results verify that the synchronization deviation of Beidou 1PPS second pulse signal will not affect the accuracy of subsequent filtering,and the module can stably output data with time stamp for the 3D accelerometer,3D gyroscope and 3D magnetometer,and the information of carrier,such as the position,velocity and attitude,etc.,can be obtained by the solution.The system has many advantages,such as small size,low power consumption,good robustness and reusing of the equipment.It is not only qualified to the test requirements of the single aerodynamic weapon,but also further improves the space-time testing precision of multiple targets navigation,by combining with the multi-sensor information fusion technology.
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