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图1所示为本文构建的导航定位系统总体框图,可以分为5个部分:(1)航向测量单元:采用村田公司的新型压电振动MEMS陀螺ENC-03R作为系统的水平方向航向角的测量传感器。(2)位置测量单元:采用一个外加光电码盘的随动轮作相对位置跟随测量,并采用Altera公司的EPM7032型CPLD对随动轮正交光电编码器的信号进行处理。
Figure 1 shows the overall navigation and positioning system constructed in this paper, which can be divided into five parts: (1) heading measurement unit: Murata’s new piezoelectric vibrating MEMS gyroscope ENC-03R is used as the measurement of the horizontal heading of the system sensor. (2) Position measurement unit: follow the measurement of the follower wheel of an external optical code wheel and measure the signal of the follower wheel orthogonal optical encoder by the EPM7032 CPLD of Altera Company.