Design Of SOPC Embedded Navigation Computer

In order to meet the requirements of navigation performance and interfaces for small size Integrated Navigation systems with multi-sensors, and to promote SOPC technology based on FPGA to use in navigation applications, a SOPC-based embedded Navigation Computer is developmented in this dissertation.After analyzing the features and requirements of multi-sensors Integrated Navigation system, this dissertation propose a SOPC architecture based on platform FPGA including both high performance processor and configable logics. With IP reuse and CoreConnect technology, the processing unit and the Peripherials are implemented in a single chip. For practical application, this dissertation designs PCB board to facilicate the SOPC navigation computer. Beside the Virtex4FX device, the PCB board consist FPGA configuration and memory devices, power supply distribution systems, analog signal acquisition modules and communication interface physical layer circuits. After schematics development and PCB layout, the project hardware is put forward. Because the SINS and Kalman filter algorithm is rich of floating point calculations, a floating point calculation coprocessor is designed in FPGA fabric, interfacing to PowerPC processor through the APU controller in PowerPC405 processor block. Taking advantage of the HW-SW coprocessing, processing performance is enhanced. This dissertation also realizes a ARINC429 IP core in FPGA fabric using customer IP concept, the ARINC429 tranceiver is designed in a innovation maner, it adapt avionics electronic instruments communication.On the basis of computer board development and the on-chip logic design, this dissertation describes the embedded software project architecture and software bootstrap after system powered on. Application software facilicating the integrated navigation runs on the SOPC navigation computer. The experiment result is presented, the performance of the navigation computer is analysed from the hardware side and the application side.The debugging and testing result show that the SOPC navigation computer realizes the multi-sensor integrated navigation with small size and high performance. It also laid a foundation for further study and development.