Research Of SINS/CNS Integrated Navigation Computer Based On SOPC

With the rapid development and improvement of modern navigation theory and technology, integrated navigation system emerges as the time requires. The core ideas of the system is that to combine several different systems together and to build a new navigation system with higher precision, considering the property and limitation of each system and taking advantage of the mutual complementation of the different information sources.Nowadays, with the continuous improvement and innovation of micro-electronics technology,integrated navigation systems with the inertial components as the core, supplemented by the function of astronavigation, have become the attractive topic. And the navigation computer is the most important part. In recent years, navigation computer has been moving in the direction of low cost, low power consumption and small volume,and it will make a far-reaching sense for establishing integrated navigation system with high stability, high reliability and high efficiency. Based on the characteristics and development requirements of modern navigation computer, this paper design a chip with FPGA as the core processor, on which the navigation computer system can be realized by applying the chip programmable technology.Firstly, this paper introduces the inertial navigation system and celestial navigation system. Considering the advantages and disadvantages of two kinds of different navigation systems, then the paper analyzes the research background and significance of the integrated navigation system. According to the development status and trend of the navigation computer system,a scheme for navigation computer is proposed.Secondly,in this paper,based on the performances and requirements of multi information integrated navigation computer, the power circuit, clock circuit, configuration circuit, memory circuit and related peripheral interface are designed, satisfying the hardware requirements of the integrated navigation system.Thirdly, the navigation computer uses the soft nuclear of Nios II as the embedded system,and the system has some characteristics. Such as flexibility and customizability.we could high-efficiencily accomplish demand of design for hardware and software.In the paper, we use double Nios II in the system.we could complete the cooperation of hardware and software.one core is demand for data and connectors the communication, and the other core is demand for data handle and navigation calculation. The system integrates data acquisition,data processing and interface communication into a single chip, meeting the requirement of the micro system and effectively improving the reliability of the system. What's more,this paper studies the CORDIC algorithm, which uses parallel pipeline structure, greatly improving the efficiency of data processing of the navigation computer.Finally,this paper investigates the software design of the ?C/OS-? operating system, and completes the test and verification of different modules.The investigation of SOPC embedded system in the navigation computer has laid a solid foundation for the future application of navigation computer in engineering.