Research On Design And Engineering Realization Of Embedded Navigation Computer System

Strapdown inertial navigation system with digital platform has much smaller volume and lowerpower consumption than inertial navigation system with the physical platform. The embeddednavigation computer system, responsible for the digital platform, directly affects the accuracy andreal-time performance of navigation system. According to practical engineering applications, thefeasibilities of some solutions for the embedded navigation computer is analysed in this thesis. Thehardware and the corresponding function module are designed, the navigation computer with thestructure based on DSP+CPLD is achieved and has been tested completely in actual strapdownAHRS system.In order to meet the requirements of high-precision, real-time and multi-communication interface,the navigation computer system with the structure based on DSP and CPLD is studied and developed.In this system, navigation solution function is finished by double-precision floating-point DSP, whileCPLD is used to assistant DSP to control and manage the external multi-communication interface, soas to allow DSP to focus more on navigation solution functions to improve system accuracy andreal-time performance.The driver software for corresponding functional modules of the navigation computer system isstudied to enable the system to work better. External expansion interface chip can be accessed andcontrolled exactly by DSP with the designed software modules, which not only contribute tohigh-speed and high-precision navigation solution, but also reduce the overhead of navigationprogram.Software update of DSP and CPLD by serial port is studied for high maintainability and safetyrequirements in actual use. This update program enables the navigation computer system toaccomplish software update in system with good software maintenance performance. The Build-inTest software is also studied in this thesis. With BIT software, the navigation computer system has theability to check the state of devices within or outside the system by itself. When fault is detected, BITsoftware will achieve fault reporting and storage. It makes fault diagnosis and repair easy to improveuser’s safety.Through a complete test program, the functionality and performance of this navigation computersystem is proved to meet the requirements of practical engineering applications, and applied in actualstrapdown AHRS system.