Research On The Hardware Platform Of SINS/GPS Integrated Navigation System Based On Dual DSP

As a new direction of the navigation field, the FOG SING/GPS Integrated NavigationSystem not only inherites many features of the FOG, such as absolute solid-state, longevity,large dynamic scope, quick-reaction, simple structure, but also overcome poor long-termstability by integrating with GPS. So the FOG SING/GPS Integrated Navigation System willbe put into application in many ways. Its superior performance also give the system highrequirements on the hardware platform. First, high precision. The data types in the systemalgorithm is double-precision floating-point data. Second, high speed. The Strapdown solverand Kalman filter in system are complex algorithm, they are taking up a lot of resources andtime. Third, small size. The volume of the1000m FOG SINS system is about15cm, hardwareplatform is required to set into it. Forth, low power. The heat which is generated by thehardware-power will result in a great impact to the performance of the FOG. So desiging ahardware platform which meet the above requirements is very essential to the IntegratedNavigation System.This article considering the integrated navigation system on the performance of thehardware platform requirements, and design a hardware platform with a dual-DSP+FPGA asthe core to implement various functions of the navigation system hardware platform. Thispaper uses two high-performance DSPs for this processing core, FPGA as a front-endcomponent, to realize data acquisition, to extend serial resources. Double DSPs can be takento run strapdown arithmetic program and Kalman filter respectively, both by synchronousserial communication to achieve coordination.The article includes the hardware design of a navigation system, chip configuration andthe design of control programming. The paper first elaborates the principle of integratednavigation system, and the SINS of the algorithm and Kalman filtering theory are described.Followed by a combination of practical projects and compared with the older hardwarecircuit board, then introduced a design ideas of the new generation of high-performancedual-DSP architecture of SINS/GPS integrated navigation system board, which includes thefeatures about acquisition of the original navigation data, navigation data solver, navigationinformation data sent and so on. The original data includes FOG data, accelerometer data andtemperature data. The data solver includes The Strapdown solver and Kalman filtering. Thenavigation information sentting is that sent the original data and navigation parameters to thedisplay side PC. Finally, based on the development the hardware circuit board, the correspondingsoftware is designed to improve and enrich the functions of the SINS/GPS integratednavigation system board. Mainly includes the synchronous serial port communicationbetween the DSPs, the initialization process of the DSP, the online changing of the initialparameters of the SINS, the navigation data transmission and so on.