Design And Implementation Of Cyclone Ⅲ Embedded Navigation Computer

With the development of micro-electronics technology, in order to meet the needs of themicro and small multi-sensor integrated navigation system for the performance and theperipherals interface of navigation computer, this paper used the SOPC technology to developa navigation computer system, which is based on Cyclone Ⅲ.After analyzing the functions and applications of the navigation, this paper wascombined with the lowest power consumption and the lowest cost of high performancecharacteristics of the Cyclone Ⅲ, and then proposed the design scheme of the strapdownnavigation computer system. After analysis and research, this paper used SOPC for theembedded system, which is based on the embedded soft nuclear of Nios Ⅱ, and with whoseflexibility, customizability, and the ability of collaborative design for hardware and software,the users could complete the integrated design of hardware and the design of softwarealgorithms. This paper designed the hardware circuit of the navigation computer. The systemused dual system of Nios Ⅱ, one processor is responsible for data acquisition and interfacesthe communication task, and another processor is responsible for data processing andnavigation settlement, which give full play to the advantages of the SOPC.After designing the hardware and the logic of FPGA chip, to further optimize thesystem’s hardware architecture and algorithm efficiency, this paper designed a method offloating point calculation for the hardware to improve the computational speed and operationprecision of the system, and then studied the hardware acceleration algorithm (singleprecision algorithm of cordic) based on the floating point calculation to accelerate theoperation of trigonometric function in the navigation algorithm.At last, to manage system tasks for the navigation computer, this paper transplanted theembedded real-time operating system. According to the integrated navigation system worksituation, the system tasks were divided into IMU data acquisition task (SPI), GPS dataacquisition task (UART), strapdown calculating task, debugging communication task (UART),sending data to OLED task, LED indicating task. After debugging and testing, the design ofthe SOPC navigation computer achieved the intended purpose, and realized themicrominiaturization, multi-source collection of integrated navigation computer system,which had high processing performance. The design of SOPC embedded navigation computersystem for the further research and development of navigation system laid a solid foundation.