To adapt to development needs for good real-time

fast speed

high precision

small size

low power consumption

of current SINS design a DSP + FPGA SINS platform

use FPGA to complete sensor data acquisition and control; use high performance TMS320C6713 DSP as the core processor to complete attitude and heading reference system（ AHRS）; describe interaction relationship between FPGA and DSP; DSP programs are compiled by C language and assembly language

FPGA design is described using VHDL language; test proves the design is feasible

the errors of attitude angle is within 0. 05

the precision is up to design criterion.