Software Design Of Inertial Navigation System Based On VxWorks

fos paper comPletes softwar design of the navigation SyStem based onVxWorks. Ths system can realize the saZnPling and tranSndssion of various data,model calculation of the System, display all data which was related to navigationand orientaion of naval ships. It can control dialogue betWeen computer andopendof, and comPlete vedous keyboard operation. Using' 8-channel serial POrtcard, it can realize comrntalcation with other syStem.Ths thesis first determines the research emPhasis and principle boeworkby analyzing the development and present statUs of real-time operation systemand inertial navigation system. Secondly, introduces the configUration andcharacteristics of new real-time operating syStCm-VxWorks and analyzes Tomadowhich was the development environment of VxWorks. By analyzing hardwareconfiguraion and substance of inertial navigation, I set up unifOrm model of thesystem which involves of five work mannrs and inertial aligrunent of inertialnavigation. Then the uniform model is validated by computer simulation. In themeantime. I analyze the error characteristics of the system and effect caused bygyroscope and accelerometer In the final chaPter. the system is designed withOOP method including data communication, model calculation and design ofman-machine interfaces by advantage of multitaSking prograrnming that wassupported by real-time operating system. A1so I complete hardwareconfiguration of inertial navigation system in VxWorks.Most software design like model calculation and display of various interfacesis colnpleted. The unfinished work is detection of hardwar and debug betWeenhardware and software. In the meantime, we should using better arithInetic toincrease the position accuracy of inertial navigation system.