Application Of MPC8540 In Inertial Navigation System

With the development of embedded technology, embedded microprocessors play a growing significant role in inertial navigation systems (INS). Application of MPC8540 in INS is presented in this thesis, in which the development of VxWorks board support package (BSP) for MPC8540 and the software development of INS in PC are mainly discussed.In the whole flow, the work of porting VxWorks BSP to MPC8540 must be done first so that VxWorks OS can run on MPC8540. Based on the analysis of boot process of MPC8260's VxWorks BSP, VxWorks BSP for MPC8540 is designed, and the memory management unit (MMU) is stressed.In this thesis, the scheme of developing INS software on PC first and then transplanting it to MPC8540 is employed. Some modules are implemented on PC, including the user interface module which can exhibit the track curves and data dynamicly based on Linux Qt library and the real-time module which achieves the real-time control and data processing.This software is running upon RedHat 9.0 OS embedded with RTLinux kernel, showing nice performance such as strong stablity and high real-time ability.