The Research&Design Of Hardware Platform For SINS Based On OMAP

Come ten years recently,the development of optical fiber strapdown inertial navigation system has been very rapid,but with its supporting navigation system hardware platform still has many limitations,the main problem is the centralized task processing.This is because its hardware platform is not only used for complex navigation data solution,but also for system control,information storage and external communication functions.All of these tasks must be focused on a single processor,which inevitably leads to the real-time performance and effectiveness of the navigation solution greatly affected.In addition,the traditional hardware platform generally uses the serial port to complete the communication with the outside world.Due to the limitation of the serial port communication method,this will undoubtedly lead to a series of problems such as communication distance and communication speed.Against the above problems,this paper presents a design solution of the inertial navigation system hardware platform based on dual-core heterogeneous chip OMAP-L138 as the core processor.This strapdown system hardware platform in the control of the complexity of the system board under the premise of an increase of ARM9 core,which liberated the DSP core,allowing it to focus on running navigation algorithms,the newly added ARM core can be responsible for system logic control and External communications and other functions.More importantly,ARM core in the embedded linux system running,you can more easily and quickly complete system control functions,in addition,the linux system can achieve network communication instead of the traditional serial communication,which will make the whole system more competitive.In this way,the focus of this paper is to complete the design of hardware debugging and welding work,build guide calculation program and realize ARM dual core communication program OMAPL138 the end of the development environment used to research DSP terminal.The hardware foundation uses FPGA + OMAPL138 chip,and the two cores in the OMAPL138 chip run SYS/BIOS and Linux operating system respectively.Firstly,This paper introduces the purpose,significance and development status of the research at home and abroad;then,according to the actual needs of the project and system functional requirements,the overall scheme of the system hardware platform is designed.Secondly,According to the functional requirements of the navigation system,the circuit schematic design and PCB design of the hardware platform are completed,and the welding of the hardware circuit board is completed.Subsequently,the study designed a system of the overall software framework,mainly composed of two parts of the DSP side and ARM side.Then writing the DSP core and ARM core their respective applications by the C language in CCS5.5 of the IDE,to achieve their own functions.Finally,the porting of the BootLoader,Linux kernel and file system is completed with the cross-compiler installed on the host.Based on this,the SysLink component is installed for dual-core data exchange.At the end of this paper,The communication function between the basic functions of each interface peripherals on the hardware platform of the system and the FPGA test and verify,in addition,also test and verify the OMAPL138 dual core communication function;Finally,the original system navigation algorithm program is modified and ported to the new system,with dual-core communication program and ARM-side serial communication program to test the performance of the system as a whole,and verify the feasibility of the inertial navigation system hardware platform designed by this paper...