Software Design And Realization Of Inertial Navigation System Based On VxWorks

The navigation computer is the core of the strapdown inertial navigation system, which undertakes data acquisition, attitude calculation, error compensation, navigation information release and fault diagnosis task. With the development of embedded technology, its application has extended to the social and economic, military, aerospace,ship,communications and other related industries. Embedded software technology is increasingly mature, embedded interface development tools, embedded communication technology have make a spurt of progress of development. These provide a solid foundation for the implementation and optimization of inertial navigation system.Based on the VxWorks embedded real-time operating system as the software platform,use Tilcon as the system development tool GUI, the use of serial communication means, give full play to the real-time and safety of real-time operating system, realize a inertial navigation system. Software testing project use virtual terminal instead of the actual physical platform,reducing the space occupied by the equipment, saving maintenance costs the cost of purchase of hardware equipment and energy and lower.This paper begins briefly introduced the present situation and development trend of development,related fields of inertial navigation and real-time embedded operating system.Firstly, the working principle of the strapdown inertial navigation system based on quaternion method, using four complete navigation information solution; the inertial coarse alignment and mooring alignment completed the initial alignment of the vertical navigation system; the use of calibration to determine the error coefficient of inertial measurement components, has carried on the compensation, in order to provide algorithm of support count function solution of inertial navigation system.Secondly, based on the analysis of the software of inertial navigation system basic function and performance index of the system, design the overall software platform. Including selection of development platform, the development of methods, and the system function module according to the modular software development methods used with the function characteristic of inertial navigation system (including communication module, calculation module, display control module), to determine the specific tasks and priorities, and makes the design and working mechanism of software the.Then, establish VxWorks operating system environment in virtual terminal to prepare for realization of system software.Finally, according to the function module partition is achieved, and the final integration test. Mainly includes: the output data format of HY-820 fiber inertial measurement unit IMU to realize serial communication and data acquisition; according to the navigation algorithm of the navigation module, and improves the running efficiency of the program, shorten the operation time, better meet the requirement of the inertial navigation system for real-time embedded graphics development; the software tool Tilcon, inertial navigation system display and control interface. The test results verify the feasibility of inertial navigation system, and can meet the needs of navigation system function better.