Design And Realization Of Laser Gyroscope Sins Hardware Platform Based On SoPC

Laser Gyroscope Strapdown Inertial Navigation System (SINS) is an important trend in the development of marine navigation system. This dissertation mainly researches the application of platform Field Programmable Gate Array (FPGA) in SINS. Based on the SoPC (System on a Programmable Chip), a new method of designing SINS hardware platform is proposed.Firstly, basic theories of SINS and laser gyroscope are deeply investigated. Considering the high performance processor and programmable logic characteristics of platform FPGA, an integrated configuration design scheme of laser gyroscope SINS based on SoPC is proposed, including the components and hardware platform.Secondly, according to the design scheme, Xilinx Virtex-4 FX20 FPGA is chose as the main chip, on which the functions of hardware platform's peripheral equipments are all realized, such as data processing assembly, functional control and interface communications. The design of the SINS hardware platform's PCB board is deeply and systemically discussed, including configuration and memory devices, laser gyroscope signal acquisition modules, communication interfaces and power supply distribution systems, physical layer circuits. Then, system diagrammatic layout and PCB layout are designed. In order to satisfy the requirement of floating point operations in SINS data processing, a floating point processor is devised in the FPGA's programmable logic, which interfaces with PowerPC405 through APU controller. Provided with EDK, software cooperates with hardware under XPS, which improving the processing performance of SINS hardware platform.Finally, the framework and loading methods of hardware platform's embedded software are studied after finishing the designing of hardware platform PCB layout and FPGA's inner logics. Basic parameters of this hardware platform have been tested, some problems encountered in the hardware testing and software debugging process have also been analyzed and the test results reach the design requirements.The design and realization of SINS hardware platform perfects the functions of SINS. Besides, it also satisfies the accuracy and real-time requirements of SINS. What's more, the hardware platform adapts to the development of high performance and low power of SINS and has good expansibility.