| The biomimetic navigation based on the Atmospheric Polarization Mode is one key technology for human to extend their capability of navigation in complex natural environment. The Atmospheric Polarization Mode contains important compass direction information, so the development of Atmospheric Polarization Information Detection Equipment has an important practical significance for this research. In this thesis, centering on high-performance ARM9 processor AT91RM9200, we have designed and implemented a set of hareware system for Atmospheric Polarization Information Detection Equipment which is able to complete information detection, motion control, data acquisition and information processing tasks independently with advanced Embedded Technology. The main research of this paper shows as follows:(1) Through the analysis of the functions and structure of detection equipment, we designed the hareware system architecture which is targeted at embedded ARM9 processor AT91RM9200. The structure and function of two hardware subjects are expatiated separately. And then the software system solution in relation to hardware debugging is introduced.(2) According to the principle of Polarization Information Detection, we designed a new type of Polarization Information Detection Sensor. The structural features and circuit design are detailed, with an emphasis on the structural advantages, additive error and circuits'compensation of the sensor.(3) The circuit design of Atmospheric Polarization Information Acquisition and Contol System hardware models are expounded, and then the steps and techniques of main PCB design are discussed. The system realizes acquisition, control, processing and communication in the field environment.(4) The process, problems and solutions in the hardware debugging are summarized and the development achievements of hardware system and detection equipment are given. Finally, we verified the detection principle and system effectiveness primarily through the practical test. |
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