Research Of Hardware Circuit On SINS/GPS Integrated Navigation System Of Fiber Optic Gyroscope Based On Double DSP

The FOG has been put into application in many ways since the birth, for its many outstanding advantages such as absolute solid state, longevity, large dynamic scope, quick-reaction, simple structure, small size and low weight. The FOG Strapdown Inertial Navigation System has prominent advantages. But for the moment the domestic FOG has poor long-term stability. SINS can be integrated with GPS to enhance the precision.Single DSP adopted in the system which runs SINS/GPS integrated arithmetic program can not meet the request that asks for quicker updating of data output. Double DSPs can be taken, one runs strapdown arithmetic program, the other runs itegrated filter program.At first the paper introduces separately the arithmetic theory of strapdown inertial navigation and Kalman filter. The emphasis of the design is the board' s hardware and part of its software. It includes the collection circuit of gyroscope data, the collection circuit of accelerometer, the collection circuit of temperature, the outside communication interface circuit and Boot Loader circuit. The data collection and transmission means to adopt DSP and FPGA to cooperate has high integration and credibility.Data transmission between two DSPs is enevitable for their cooperation. It can be realized by using TMS320VC33' s synchronous serial port to connect two DSPs directly. This means is exact and credible. It is the precondition and guarantee of serial port' s dependable work to configure its memorizer mapping registers.As far as the software of DSP, C and assembly language are commixed to program for it can exert excellence respectively. The program adopts interrupt to manage data transmission and arithmetic. The DSP will be divorced finally from PC emulation condition to run by itself, so it must can be boot loaded after electrified. The Boot Loader software(Boot table) should be programmed correctly.