Design And Implementation Of SINS/GPS Navigation Processor Based On FPGA

SINS/GPS integrated navigation system is different from the other navigation systems. It reduces the system's value, weight, power and cost at the same time of keeping a good navigation orientation character. This special feature of the SINS/GPS integrated navigation system makes it adapt to the system miniaturization direction. The thesis designs a SINS/GPS dual-core navigation processor system based on FPGA, it makes an alternative application platform for integrated navigation.The thesis analyses the functions of dual-core navigation processor and makes dual-core navigation processor into three parts according to the mind of modularization. They are FPGA module, data acquisition module and communication module. Then, the thesis designs the hardware based on these three parts.Designing FPGA-chip hardware with SOPC technology completes the hardware construction of two Nios II processor in the same FPGA at first. Then, computer generates hardware system. Thesis designs custom component using VHDL language to acquire the data of data acquisition module, and designs custom instructions to increase the processing speed of the processor at the same time.Design of software consists of two parts:embedded real-time operating system uC/OS-II and procedure for inertial navigation algorithm. Thesis designs the structure of the task of embedded real-time operating system according to the system modules and programs the task functions. Inertial navigation procedure is used for verifying whether the dual-core processor meet the requirement of navigation system.Finally, each module has been tested, and the thesis summarizes the design.