| With the state of FOG SINS is rising gradually in inertial navigation applications, the navigation computer of it is becoming more and more humanized multi-functional and small.The functions of Navigation computer are not limited to complete the complex navigation solution, also relates to system control, information storage, redundancy communication and other diversified functions. So its internal structure is more and more complex. Besides, the requirement on the core processor in power of computing and system control is rising continuously. Therefore, this paper presents the research and design of the Hardware Platform on FOG Navigation Computer which regards the dual-core chip OMAP-L137 as the center processor.The OMAP-L137 is a low-power and dual-core applications processor which provides benefits of both DSP and Reduced Instruction Set Computer (RISC) technologies. The ARM processor kernel for ARM926ej-s, can be used to transplant the embedded Linux system to realize the tasks of system control, external communication, data storage and display for navigation computer. The DSP processor kernel for TMS320C6747, is a high-performance fixed-point or floating-point processor,which could be used to receive the IMU data and to realize the navigation solution of FOG Strapdown System.Based on this idea, according to the functional requirements of FOG Strapdown System to navigation computer, this paper firstly completes the design of schematic and PCB of hardware circuit, and finishes the board welding work. Then finish the software design.Realize the communication between FPGA and OMAP-L137 with Verilog HDL. Design the application program for DSP and ARM with C language under CCS to realize the data exchanging and start-up for the cores. Finally, realize the design and embedded work for the U-Boot and Linux kernel based on the ARM core for navigation computer system. Test the interface peripherals of the hardware platform to realize their basic function. |
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