Integrated navigation computer based on DSP and FPGA

Abstract

The invention provides an integrated navigation computer based on DSP and FPGA and used for integrated navigation of GPS and an inertial navigation system, consisting of a data input module, a data collecting module, a navigation solution module and a data output module. The data input module realizes the level conversion of input signals; the data collecting module utilizes the FPGA to realize the synchronous collection of IMU pulse signals and GPS signals; the navigation solution module concurrently read the data collected by the data collecting module by the external memory interface of a high-speed floating-point type DSP and completes the real-time integrated navigation of inertia or GPS; the navigation result is output by the data output module; furthermore, the output information has the characteristic of multi-redundancy. The navigation computer has high integration, small volume, light weight, low power loss, good real-time performance, strong expansibility, convenient system updating, and can be widely applied to the navigation of moving carriers such as aircrafts, ships and ground vehicles, etc.

Description

technical field [0001] The invention relates to a combined navigation computer based on a digital signal processor (Digital Signal Processing, DSP) and a field-programmable gate array (Field-Programmable Gate Array, FPGA), which belongs to the technical field of combined navigation and is used for The integrated navigation system of an inertial navigation system (Inertial Navigation System, INS) and a global positioning system (Global Position System, GPS) composed of an inertial measurement unit is especially suitable for applications requiring high volumetric power consumption and real-time performance. Background technique [0002] In the field of navigation technology, integrated navigation technology uses effective data fusion methods to combine various navigation subsystems with complementary advantages and give full play to the advantages of each subsystem, thereby improving the overall performance of the navigation system. important direction of development. [0003...

AI Technical Summary

Problems solved by technology

The slave adopts a microprocessor, which is responsible for the data acquisition of the Inertial Measurement Unit (IMU). This kind of scheme uses serial mode to receive GPS serial data, and the receiving process takes up more time, which makes the navigation in the host The calculation process is often interrupted, and the real-time performance is poor, which cannot meet the requirements of high real-time applications

An integrated integrated navigation computer based on dual DSPs described in patent 200610113983.5 uses two digital signal processors, one for data reception and time synchronization, and one for navigation calculation. The time synchronization adopts the soft synchronization method. It is the synchronization problem of IMU data with time synchronization signal and GPS data. This patent does not contain IMU data acquisition function, and the integration level is low

The integrated navigation computer solution based on FPGA and DSP usually uses FPGA to complete IMU data acquisition. In addition to completing navigation calculations, DSP also needs to collect GPS serial data, complete time synchronization and undertake communication tasks. Receiving GPS data often interrupts the navigation calculation process, so the real-time performance is poor, and it cannot meet the application requirements in real-time applications with a large amount of data

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