基于TMS320C6678的单历元单基线“北斗”测姿算法的实现

针对姿态测量的高精度问题和实时性,以及基于载波相位的"北斗"测姿算法中最小二乘模糊度去相关平差(LAMBDA)算法的高复杂运算,选择TI公司高端处理器中的C6678多核数字信号处理器(DSP)作为单历元单基线"北斗"测姿算法实现平台.根据算法的特点采用数据流模式对DSP多核进行任务分配:DSP的CORE0专门负责与"北斗"接收机UDP(User Datagram Protocol)通信,将"北斗"测姿算法中的各个分部算法分配到另外3个DSP CORE中执行并利用基于消息队列方式的核间通信技术进行数据核间通信.利用OEM617 D"北斗"接收机采集的实时"北斗"数据,经过在多核DSP算法处理上运行后,将结果与Matlab仿真结果对比,表明本设计可满足"北斗"测姿的精确性和实时性要求.

Implementation of single-epoch single-baseline Beidou attitude measurement based on TMS320C6678

In order to realize high accuracy and real-time of attitude measurement and solve the problem of high complexity of Least-squares Ambiguity Decorrelation Adjustment( LAMBDA) algorithm in Beidou at-titude measurement algorithm beased on carrier phase, the C6678 multi-core digital signal processor ( DSP) with TI' s high-end processor is chosen as the single-apoch single-line Beidou attitude measure-ment platform. According to the characteristics of algorithm, the data stream mode is adopted to allocate tasks to multi-core:DSP' s CORE0 is responsible for the User Datagram Protocol ( UDP) communication with the Beidou receiver, the various branches of Beidou attitude measurement algorithm are assigned to other three DSP COREs implementation. Running result of the real-time data collected by OEM617D Bei-dou receiver on the multi-core DSP algorithm is compared with the Matlab simulation result,which shows that the design can meet the real-time and accuracy requirements of the Beidou attitude measurement.