Design And Implementation Of Embedded Navigation Computer System On Fiber Gyrocompass

At present,the marine inertial navigation system is in an important period of historical transformation.It is of great practical significance to carry out the related technology research of the high accuracy optical fiber compass system and realize the design of navigation computer system with practical engineering value.With the rapid development of navigation technology,the core of navigation information processing system,the navigation computer has put forward higher requirements,based on the analysis of status quo of domestic navigation computer on the overall design of the DSP and FPGA navigation computer based on the digital processing capabilities of DSP strong to complete strapdown inertial navigation the solution,while FPGA is responsible for signal acquisition and host computer communication work.In this project,Xilinx FPGA,TI high-performance TMS320C6748 DSP and inertial sensor(fiber optic gyroscope and quartz flexible accelerometer)are used to design and implement an optical fiber compass system that can be used for navigation at sea.The specific contents include:(1)Complete the overall scheme design of the optical fiber compass navigation system.According to the requirements of navigation computer's processing power,power consumption and volume,and according to the actual engineering needs,this paper designs the hardware circuit platform of navigation computer system based on TMS320C6748 DSP and Spartan-6 FPGA as main devices and peripheral chips.DSP focuses on navigation solutions,FPGA completes data acquisition,data processing,and communication functions.(2)According to the completed hardware,the software design of the navigation computer is completed.The sampling of the gyroscope and the accelerometer is completed respectively,and the sampling of the temperature is completed.According to the characteristics of the navigation computer system with multiple input signals,different processing modes were designed by FPGA respectively,and the processed data through the data bus transfer to DSP navigation solution design,driver design of DSP and two BOOT by SYS/BIOS operating system.(3)The self alignment algorithm of the optical fiber compass system is analyzed.First,the selection of the compass circuit and the parameters of the compass are derived,and then the design of the alignment of the strapdown fiber compass is completed.(4)The optical fiber compass navigation computer system is tested and verified.The error compensation of the inertial measurement unit is first made,and the stability and reliability of the system are verified by the three axis turntable test and the sea voyage test.The results show that the design of optical fiber compass navigation computer platform based on FPGA and DSP has good performance,and it can meet the demand of high performance and low power consumption of fiber optic gyrocompass navigation system.After testing,optical fiber static heading alignment accuracy is smaller than 0.06°,dynamic heading alignment accuracy is less than or equal to 0.11°.