针对视觉导航图像前端的加速处理需求，提出一种基于轻量级、低成本FPGA的图像预处理加速器方案。该方案通过高效的流水线设计以及并行处理技术集成直方图均衡化、FAST特征点检测及多源传感器数据时间同步等关键功能，解决了在有限硬件资源下实现多功能集成、满足实时性要求、平衡成本与性能、多源传感器信息时间同步，以及实现软硬件协同设计等技术难点。该方案基于Xilinx公司Zynq-7000系列轻量级FPGA实现，在实现低成本的同时大大降低了图像处理延迟。当FPGA以160 MHz的频率运行时，对于1 280×720的图像可实现150帧/s的处理速度，提供了一种低成本、高性能的视觉导航图像前端加速解决方案。

An image preprocessing accelerator scheme based on lightweight and low-cost FPGA has been proposed in this paper to meet the accelerated processing requirements of the visual navigation image frontend. Through efficient pipeline design and parallel processing technology， the designed accelerator integrates key functions such as histogram equalization， FAST feature point detection， and multi-source sensor data time synchronization. This solution solves technical difficulties such as achieving multifunctional integration， meeting real-time requirements， balancing cost and performance， synchronizing multi-source sensor information time， and achieving software hardware collaborative design under limited hardware resources. The proposed solution is based on Xilinx's Zynq-7000 series lightweight FPGA implementation， which greatly reduces image processing latency while achieving low cost. When the FPGA operates at a frequency of 160 MHz， it achieves a processing speed of 150 frame/s for 1 280×720 images， providing a low-cost and high-performance visual navigation image front-end acceleration solution.