Design Of Navigation Computer System Based On FPGA And PC/104

The navigation computer for strapdown inertial navigation system is a computer system with data acquisition,navigation solution and user interaction.The system can collect information from gyroscopes,accelerometers,external auxiliary navigation systems and sensors so as to perform navigation calculations and output navigation information to external.This paper designs a set of navigation computer system based on FPGA and PC/104.The main work is as follows:1.This paper investigates the application background and existing design solutions of the navigation computer,formulates the system architecture of FPGA and PC/104 combination according to the application requirements,and selects the appropriate chip solution.2.On the data acquisition side,this thesis selects the MZ7XA7020 core board of ZYNQ series as the data acquisition chip and develops on the FPGA end in the selected core board.The IP cores analyzing asynchronous serial data and counting pulses are specifically designed to receive the serial data of gyroscope and GPS as well as the pulse amount of accelerometer.In addition,this paper uses dual-port RAM for data communication between FPGA and PC/104.The ?C/OS-? embedded operating system runs on the ARM of the board to verify and synchronize the data collected by the FPGA.3.On the PC/104 side,the paper employs the software platform of operating system Vx Works.Therefore,the message analysis,navigation solution,combined filtering and navigation result output are realized through the multi-task mechanism.The algorithm module design of strapdown inertial navigation system such as inertial navigation solution,coarse alignment,fine alignment and zero-speed correction are realized.In addition,the design of network communication module is realized by simulating application system.4.The test results show that the system can achieve stable data collection and navigation solution.The test results under the condition of marble platform in laboratory uncover that the system data collection is stable and reliable,and the navigation solution results show that the performance of the navigation computer meets the operation requirements of pure inertial solution and information fusion.