文档介绍：- I- 摘要无陀螺捷联导惯性航导航系统( GFSINS )是指舍弃陀螺仪而直接把加速度计安装在载体上,通过对加速度计输出的比力信号进行解算从而得到导航参数的惯性导航系统。捷联惯导系统同平台式惯导系统相比具有可靠性高、寿命长、节省体积空间等优点。无陀螺捷联惯导系统因为舍弃了陀螺仪,与有陀螺的捷联惯导系统相比具有低成本、低功耗、反应速度快、动态范围大等优点。随着深亚微米技术的出现,现场可编程逻辑门阵列( FPGA )得到了迅猛发展,也使得可编程片上系统( SOPC )成为未来嵌入式系统设计技术发展的必然趋势[1]。本论文根据以九加速度计为配置方案的无陀螺捷联导航计算机的特点和应用要求,提出了基于 FPGA 的无陀螺捷联惯性导航系统的硬件设计方案。系统主要包括数据采集模块和数据解算模块两部分。数据采集模块由 STM32 负责控制两片 AD7656 将9 个加速度计输出的模拟信号转换为数字信号。数据解算模块采用 Altera 公司的 FPGA 芯片,利用 SOPC 技术完成 FPGA 内部硬件逻辑的构建,核心算法由高性能 32位 Nios II 处理器完成,实现了浮点运算。最后完成了原理图和 PCB 设计,研制了实验样机,为无陀螺捷联惯性导航系统的进一步研究工作奠定了基础。关键词: GFSINS ;导航计算机; FPGA ; SOPC ; STM32 ;双口 RAM - II- Abstract Gyroscope Free Strapdown Inertial Navigation System(GFSINS) isa kind of Inertial Navigation System, accelerometers are derectly fixed in the carrier without using gyroscope. So acceleration is the exclusive in formation source, we can get all the navigation parameters puting. Compared with The P latformtype Inertial Navigation System The Strapdown Inertial Navigation System is high reliability , longevity, small volume and soon. Compared with Strapdown Inertial Navigation System with gyroscope, GFSINS is low cost, low power, promote reaction, wide dynamic range and soon. With the emergence of submicron technology, FPGA chips have e more and more popular, thus making the system ona programmable chip (SOPC) design the mainstream technique in embedded system design field. Take the f eatures and application requirements of gyroscope free strapdown inertial navigation system with nine accelerometers into consideration, the thesis put forward a hardware design scheme of gyroscope free strapdown inertial puter based on FPGA. The system includes data acquisition module and data decoding module two parts . In the data acquisition module, two AD7656 chips will change the analog signals from nine accelerometers into digital signals controlled by STM32. In the data decoding module , the internal hardware logic of FPGA is constructed by SOPC technology. The key algorithm is plished by