Design And Implementation Of Data Processing Platform For Gravity Matching Inertial Navigation System

Gravity matching inertial navigation technology is widely used in underwater navigation.It overcomes the shortcomings of error accumulaition in the pure inertial navigation system,and can realize passive navigation.It has the advantages of high accuracy and strong applicability of navigation over complex terrain.In this paper,the data processing platform of gravity matching inertial navigation system is designed and implemented based on the application background of gravity inertial integrated navigation.The main research and achievements are as follows:Based on the principle and system requirement of gravity matching inertial navigation,the hardware architecture design of data processing platform paper is presented.FPGA and STM32 cooperate as data acquisition and storage center,and DSP as data processing center.The internal data flow direction of data processing platform is analyzed.Based on the requirements of system performance,accuracy and working environment,the selection scheme of platform core chip is given.The feasibility of data communication between multi-cores is analyzed theoretically,and the data interaction interface of multi-core communication is designed.In this paper,hardware modeling is built on the FPGA,and several functional modules are designed.Serial port module,synchronous alignment module and data decoding module realize the real-time data acquisition,synchronous alignment and decoding function of the platform.File system management module completes the bottom building of file system management data function.Data communication interface module establishes data interaction interface between FPGA and DSP,and between FPGA and STM32.Experiments are carried out to verify the inter-core communication of the chip and several modules of the FPGA.The experimental results show that each unit has complete functions,stable performance and can work normally.The software design of DSP and STM32 is realized in this paper.And the functions of calculating data,storing data and reading data from the platform are completed.DSP is mainly responsible for the task of calculating data for matching navigation from the platform.STM32 cooperates with FPGA to realize the functions of initializing hard disk,drivering USB and data management in file system.The reliability of the data processing platform is tested by experiments.The results show that the system has normal function and stable performance,and can meet the requirements of the gravity matching inertial navigation system.