为提高高动态条件下导航解算的速度,文中给出了一种单更新速率的并行导航解算算法。该并行算法由并行姿态算法模块、并行速度算法模块、并行位置算法模块和参数计算模块等4个并行执行的模块组成。分析表明,该并行算法的总执行周期仅为普通算法的6%左右,显著提高了计算速度。基于FPGA的仿真实验结果表明,这一设计可大大提高导航解算算法的更新速率,对在高动态条件下提高导航解算的精度有重要作用。

A parallel navigation computation algorithm with a single update frequency was proposed and analyzed to increase the navigation computation updating rate in high dynamic conditions. The parallel algorithm includes 4 parallel computation modules: the parallel attitude computation module, the parallel velocity computation module, the parallel position computation module, and the parallel parameter computation module. The computation speed analysis shows that the total implement periods of the parallel algorithm are about 6% of conventional algorithms. The results of FPGA-based experiment show that the design significantly increases the updating rate of the navigation computation, thus greatly benefiting the navigation accuracy in high dynamic conditions.