| As the Strapdown Inertial Navigation System(SINS) virtues of small volume, light heavy and high reliability, it has become the research direction of inertial technology in recent years. Especially the use of fiber optic gyro is a research focus in Strapdown technology field. Under the background, this paper presents the design of the SINS based on the fiber optic gyro with FPGA.The paper has three main parts of work: establish a hardware platform for system, and realize data acquisition of inertial devices; build error model of the inertial devices, and design calibration experiments to identify the model parameters; simulate navigation algorithm and develop system software.Firstly, the general scheme of hardware design was given according to the system demand analysis, and the data collection part was described in detail. After the realization of data collection, we used the high-accuracy multifunctional three-axis turntable to calibrate the Navigation System. The test data was processed to get calibration factor, zero-bias and fix error angle of inertial instruments. The calibration result shows that the fiber optic gyro and accelerometer can meet the requirement of system design. This paper also introduced the element theory of the SINS and simulated navigation algorithm. The simulation chose Matlab programme to imitate moving carrier, FOG and accelerometer signals. Our attitude-updating algorithm adopted quaternion. The simulation result proves validity of algorithm design. Finally, system software, including data collection subsystem, navigation algorithm part and communication component, was developed and the entire system was tested practically. The paper has three main parts of work: establish a hardware platform for system, and realize data acquisition of inertial devices; build error model of the inertial devices, and design calibration experiments to identify the model parameters; simulate navigation algorithm and develop system software.
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