Application Of Embedded Real-time Operating System On Navigation Computer Software

In order to improve navigation performance of multi-sensors integrated navigation system and to use the operation system in navigation system, an embedded RTOS-based software system for Navigation Computer is developed in this dissertation.By analyzing the features and requirements of SINS/GPS integrated navigation system, software systems for navigation computer based on XilKernel and VxWorks are proposed respectively. By modifying configurations of FPGA and improving code in XPS and Tornado develop enviroments, device drivers of Navigation computer are realized. According to the function module partition method, navigation software is divided into several seperate tasks. By using functions of XilKernel and VxWorks, these tasks are packaged, set priority, scheduled and communicated with each other. In order to perfect software systems and improve code's operating efficiency, methods of code optimization are proposed to match real time multi-task enviroment properly. By code compilng and result analyzing, function test and performance evaluation of two software systems are implemented.The testing and analyzing results show that embedded RTOSs are successfully applied in navigation software system and the performance of navigation computer is improved. By using modular software system, navigation computer gets high redundancy and portability in software system of navigation computer.