Design Of Strapdown Inertial Navigation And Control Computer Based On OMAP5912

Along with the guidance weapons playing an important role in the modern battlefield, miniaturization and low cost is an important trend of the SINS development and it also calls for a new kind of navigation and control computer with the miniaturization, low-power and low-cost totally in character. Based on the domestic researches of double CPU model navigation computer at present, the main researches of the paper is represented as following: firstly, a general research to the Dual-Core Processor——OMAP5912 of Texas Instruments is carried on, then a new design of strapdown inertial navigation and control computer based on OMAP5912 is probed into deeply, and finally ,the scheme of the navigation and control computer to substitute the double CPU model is given.OMAP5912 has two cores:ARM926EJ-S and TMS320C55x DSP.The ARM core can solve the problem of multi-path real-time control and bottleneck of sampling speed, communication with multi peripherals.The low-power and high efficiency of DSP core,can meet the requirements of data processing and power. The two cores cooperate with each other perfectly at hardware and system software, solve the problem of communication of the two cores.Based on the summary of the characters of the doudle CPU model navigation computer, the ideal of navigation and control computer based on OMAP Dual-Core processor is established.The improvement of the double CPU model an effective method to reduce the difficulty of hardware structure and communication of the doudle CPU,settle the problem of access to shared peripherals.After given the functional introduction of OMAP5912, the overall design of the navigation and control computer is accomplished.Taking the chip of OMAP5912 as the core of the paper, the hardware design is described, which consists of power supply module, clock module, memory expansion module, data acquisition module (mainly including the A/D circuit), and peripheral control interface module (standard UART, USB and JTAG etc.).With the foundation of the introduction of the software architecture of OMAP, the design of OS (operating system) and the process of transplanting bootloader are completed.The process design of the main program for the computer is accomplished, including the process design of data acquisition, smoothing filter and data output module, and the process design of navigation calculation of the SINS is completed finally.