Design And Implementation Of The INS/BD Integrated Navigation Computer Based On DSP

With the development of China’s BD navigation and positioning technology,INS/BD navigation technology is increasingly becoming an important research subject.This thesis presents an integrated navigation system base on dual-DSP embeddedcomputing platform and the BD satellite navigation systems and gyroscopes,accelerometers and other sensors. A small-sized, light-weight navigation systemsuitable for the helicopter platform is designed, which is capable of real-time dataprocessing and provides a variety of high-precision navigation data.Firstly, the fundamentals of INS and BD are described in this thesis. Theimportant algorithm of attitude matrix, velocity, and position in the INS is emphaticallyderived and established in detail. Then the principles of integrated INS/BD are broughtforward. Comparing the advantages and disadvantages of different integrated INS/BDsystems and according to the characteristics of airborne navigation equipment, therelevant state equations and measurement equations are given after the further study ofinformation fusion algorithm based on integrated mode of position and velocity ofKalman filter.Secondly, based on the characteristics of low cost, small size and high reliabilityfor the integrated INS/BD system and the requirements of interface and function, anoverall design scheme with master-slave dual-DSP integrated navigation computers isput forward. The system is mainly divided into two parts: TMS320VC33as the host inthe system to realize the computation of high precision, real-time navigation data;TMS320F240as the core for the interface subsystem to perform control andcommunication functions to the peripherals. The realization of interface subsystem ofintegrated INS/BD is emphatically studied as well.Thirdly, according to the characteristics of navigation computer system withmaster/slave, a method based on dual-port RAM which makes the communicationsbetween master and slave become quick and reliable is presented. A simple andpractical scheme by using ST16C554D to extend the interface subsystem serial port isgiven. In addition, the ARINC429interface module software and hardware in theintegrated navigation system is completed in order to meet the requirements of systemprecision and real-time.Finally, the hardware and software testing for the major interfaces of theintegrated INS/BD interface subsystem are conducted. The commissioning of the entire integrated INS/BD navigation system is performed and the testing results are givenfrom the relevant system experiments.