Research And Realization Of Integrated Navigation Information Processing Equipment Based On QNX

Integrated Navigation Information Processing Equipment(INIPE) is the heart of Marinenavigation system. It connects with all the devices in Marine navigation system, monitorstheir work status, uses Kalman filtering techniques to process the navigation information thatit received from other devices, and gives ship navigation and other systems the output ofKalman filtering. It requires a multi-tasking platform to achieve all its functions, and theplatform should be equipped with a priority-based scheduling policy to guarantee that urgenttasks can be implemented within set time. The embedded real-time operating system meets allthe conditions. QNX operating system, in addition to all the important features that theembedded real-time operating system has, its unique micro-kernel architecture andmessage-based interprocess communication are very suitable for the highly reliable real-timesystems.In this paper, taking the school INIPE as the study background, in order to furtherimprove its reliability and real-time performance, the software platform of this equipment arechanged from VxWorks to QNX. On this basis, through the use of embedded communicationtechnologies, data fusion technology and interface development technology, the system’scommunications capabilities, data optimization capabilities and display capabilities areresearched and designed, making it to have a more stable and reliable performance, to be amore friendly human-computer interaction products.Reliability and real-time performance from both the VxWorks operating system and theQNX operating system are compared, and ultimately choose the QNX operating system as thesoftware platform of the INIPE. The QNX microkernel architecture and uniquemessage-based interprocess communication are researched in depth. According to the actualneeds of the INIPE, its hardware and software platform are designed in global view. Thesystem image running on the INIPE is built using the buildfile technolog that QNX provide.The driver of the CSD_CAN card that the INIPE equipped with is written, and ultimately, theserial communication, Ethernet and CAN communications of the equipment under QNXsoftware platform are realized. The received navigation data are optimized using ExtendedKalman filtering technique. The Photon micro-kernel architecture is analyzed indepth. Combined with the demand and interactive capabilities of the device, the graphicalinterface of the equipment is designed in detail, and eventually the concrete realization of theinterface is completed using PhAB. Finally, the test environment is set up, testing thefunctionality of the system, and test results validate the correctness and effectiveness of the design.