Hardware Design And Implementation Of Embedded Navigation Computer For Gfsins

Gyroscope Free Strap-down Inertial Navigation System (GFSINS) is a measure unit of strapdown inertial navigation, which replaces a gyroscope with accelerometers and calculates angular speed from specific force. GFSINS not only greatly reduces the cost of inertial navigation system, but also has many advantages, such as a large range of dynamic characteristic, fast response, high accuracy and so on. With the appearance of the high speed digital signal processor and the silicon micro accelerometer, GFSINS can be applied. In order to verify the theory of GFSINS, a DSP-based embedded navigation computer system is designed.Based on the basic principles of GFSINS, several accelerometers configurations are further discussed, and a method of nine-accelerometer installation is selected. The study focuses on the design of the embedded navigation computer's hardware and system software. In the section of hardware design, The TMS320C6713 DSP is used as the core of the system to implement the control and the computation. The scheme of the hardware structure and the design of each functional module are introduced, mainly including power management, DSP clock circuit, external memory expansion, asynchronous serial communication, A/D and level conversion circuits. In the section of software design, the corresponding registers of DSP are configured, and each functional module is initialized. The flow of the system software and Boot Loader are introduced. At last, the system is debugged, with the aim of ensuring that all parts meet the design requirements. Debugging process includes hardware debugging and software debugging. Hardware circuit debugging mainly relies on the test of a variety of measurement instrumentations. Software debugging takes an integrated development environment to complete.The inertial navigation computer is built with TMS320C6713 DSP, the system is smaller in size, lower in power consumption, higher in reliability, better in dynamic characteristic. The computer is integrated a rich of peripheral interfaces, it can be easily combined a navigation system with GPS, digital compass and other equipment constitutes. The successful implementation of the DSP-based navigation computer provides a reliable hardware solution for the research and extension of GFSINS.