关键词: 导航计算机, 捷联基准, 数字信号处理器, 现场可编程门阵列, 卡尔曼滤波器

Abstract: In order to meet the the requirements of high precision，low power and miniaturization of current optical notes and even benchmarks，an embedded navigation computer based on FPGA and DSP processor is designed.Navigation computer hardware design is described and focused on the cooperative use of MPM and DCM，which fully embodies the adbantages of joint use of DSP and FPGA.Moreover，for eliminating the influence of long time working on system accuracy，the design of Kalman filter based on the combination of main inertial navigation direction and log speed has been studied.Finally，the navigation computer has been applied to the strapdown reference，and the feasibility of the hardware scheme of the navigation computer and the rationality of Kalman filter design has been verified.It is showed that the ENC based on FPGA and DSP was more stable，reasonable and feasible.The results show that the performance of the embedded navigation computer based on FPGA and DSP dual core is stable，the design is reasonable,and meets the requirements of optical section，continuous reference，high precision and low power consumption.

Key words: Navigation computer, Strapdown standard, DSP, FPGA, Kalman filter