Design And Implementation Of Integrated Navigation Redundant Controller Based On Dual DSP+FPGA

Due to the possibility of strong electromagnetic interference and unpredictable working environment for the navigation system,solar unmanned aerial vehicle forces the navigation equipment to meet the high reliability,high precision,long voyage,small size,light weight and other requirements.The reliability of the navigation controller needs to be improved because it plays an important role in sensor data acquisition,data processing,data fusion and output in the system.The redundancy technology is applied to the design of integrated navigation controller.The main contents include the overall scheme of redundant controller,hardware design,software design and functional testing.Firstly,according to the requirement of the system,the dual-system hot backup structure is determined.When a module fails,the system integrates the output information of fault detection module,status monitoring module and self-test module to switch the output of system.DSP is mainly responsible for data acquisition,data processing and data integration of navigation equipment;FPGA is mainly responsible for fault detection,arbitration switching,information encoding and output;Multiplexer selects the output of dual FPGA.Secondly,the hardware design of the redundant controller mainly includes the design of hardware overall scheme,selection of main chips,DSP minimum system,FPGA minimum system,power supply module,communication module,multiplexer module,the interface of double controller and PCB design.Communication module mainly includes communication between the double DSP.the DSP and the FPGA and the external interfaces and so on.Thirdly,the software design of the system includes the program of external interface module,fault-tolerant management and the software of host computer.The external interface module is used for data acquisition of sensors and the final output of the system.The fault-tolerant management program includes system initialization,host-machine confirmation,dual-machine synchronization,dual-machine communication,fault detection,self-check and arbitration switching.PC software is mainly used to receive,display and save the final data of navigation.Finally,the test platform is built to test and simulate the functional modules of the redundant controller of integrated navigation.The test of analog fault includes fault test of the hardware and software.The feasibility of the design of integrated navigation redundant controller is proved by the experimental data and the waveform of the oscilloscope.