The Design And Research Of Micro Small Integrated Navigation Computer Based On SOPC

Navigation system can give full play to the advantages of the sub-navigation system, and compensate its defect, has become a direction of navigation technology. Now, along with the development of MEMS technology, micro small integrated navigation system, MEMS inertial components as the core, complementary with GPS and EC, is becoming an important research area. Among them, the navigation computer is the core equipment of integrated navigation system; it is always toward the small size, low power and high performance direction, has great significance on constructing the high precision and high reliability integrated navigation system. Therefore, according to the development trend of navigation computer, the paper has designed micro small integrated navigation computer system that is based upon SOPC.First, analyzed the advantages and disadvantages when MSINS, GPS and EC works individually, studied the elementary theory of SINS, Kalman filter and so on, gave the combination way and the filter plan of MSINS/GPS/EC integrated navigation system, elaborated the work principle, technical methods and operation flow of Altera Corporation SOPC, and gave the hardware and software's overall framework of the micro small integrated navigation computer based on SOPC.Then, according to the requirements for micro small integrated navigation system, designed power circuit, configuration circuit and SDRAM circuit of smallest system board based on EP3C40Q240 that belongs to Cyclone III family chips, the board met the requirements of rich interface, small size and high performance. Completed MIMU, GPS and EC unit circuit design and device selection, the circuits are modular in design, connected each other through the interface board, as well as to improve system stability, designed two sets of independent power in the interface boardIn addition, fully studied start method and the communication means of the dual-Nios II processors, after verified and contrasted to them, successfully achieved dual-Nios II processors system, built on-chip distributed navigation computer, dual-processor work coordinated, improves the ability of system control and data processing. In order to improve the execution speed of trigonometric functions, studied the basic principle of Cordic algorithm, achieved 32-bit pipelined Cordic algorithm based on FPGA, enhanced the execution efficiency of trigonometric functions by 200 times, and shorten the execution cycle of navigation algorithms, improved the real-time of navigation computer.Finally, based on the mission planning and management platform that uc/OS-II embedded operating system provides, according to the basic principle of the navigation algorithm, achieved the navigation algorithms of sub-sensor data acquisition, multi-point measurement for heading, GPS coordinates conversion and strapdown resolve, given the error models of sub-navigation system and the system equations of sub-filter for Federated Kalman Filter, provided the conditions for the further design and research of software.The micro small integrated navigation computer that this article designed reached the intended target, and has been successfully applied to "Car of Autonomous Navigation and Intelligent", had certain project significance, built the foundation for the further development and research of navigation computer.