Platform Design Of High Precision Inertial/Satellite Integrated Navigation System Based On SOPC Multi-core Processor

Integrated navigation system is the information integrated system used to solve the problem of navigation and positioning,motion control and equipment calibration alignment.Inertial navigation system and satellite navigation system integration can improve the navigation system navigation performance.The focus of the field of integrated navigation systems is to improve the accuracy of inertial / satellite combination systems.With the development of FPGA technology,SOPC(System On Programmable Chip),which is based on large-scale FPGA,has been active in engineering application field.In this paper,an inertial / satellite integrated navigation system based on SOPC dual-core is studied in view of engineering realization.The main research work and contributions are as follows:This paper presents a dual-core navigation system design scheme for embedding two CPU modules on a single FPGA.In this paper,a random error analysis of Allan variance based on RWTLS is proposed to solve the problem of inertial system error.The hardware circuit platform of inertial / satellite integrated navigation system is built with FPGA processor as the core.This paper focuses on the data transmission circuit based on R232 communication protocol and the control circuit design method based on FPGA minimum system as the framework.This paper analyzes the influence of time error on the accuracy of integrated navigation system,and proposes a time synchronization scheme based on GPS second pulse signal.The paper uses IP soft-core technology to realize the time synchronization function,and designs the experiment to verify the function of the module.This paper completes the design of inertial / satellite integrated navigation system based on SOPC dual core.The host computer software is used to verify the performance of the inertial / satellite integrated navigation system.