Strap-down inertial navigation inverse filtering design method based on embedded processor

The invention relates to a strap-down inertial navigation inverse filtering design method based on an embedded processor. The method comprises a step of placing normal inertial calculation and Kalmanpositive sequence filtering estimation in an interrupt real-time response task and controlling execution through a fixed period crystal oscillator signal, a step of placing inverse-order inertia calculation and Kalman inverse-order filtering estimation in a system calling main task for cyclic execution, and a step of designing a control condition to complete positive sequence and negative sequenceoperations and achieve synchronous task calling and time sequence control. Through interrupt triggering, sequential control and main task scheduling design, the inverse filtering method of strap-downinertial navigation is realized in the embedded processor such that a Kalman filter can be converged within 5 minutes, and the rapid alignment precision of the strap-down inertial navigation is greatly improved. 本发明涉及一种基于嵌入式处理