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1、万方数据Subject：DSPandFPGAapplicationinstrapdowninertialnavigationsystemSpecialty：CommunicationandInformationSystemName：Zhaocan（Signature）Instructor：Hanxiaobing（Signature）ABSTRACTToensurehighperformance,alow-costandcompactdesignaboutinertialnavigationsystem,thispaperchosetoDSP(TMS320C6722)
2、andFPGA(Spartan-3ANfamilyXC3S700AN)combinedform,asadesignsolutioninertialnavigationsystem.Firstly,thepapermadeaintroductionaboutinertialnavigationsystem’sresearchbackgroundandoverview,whilethetheoryandtechnologyofinertialnavigationsystemtodotheanalysis.Thenabouttherequirementsanalysisa
3、ndsystemdesigntoachievethemainfunctionofthesystem,designthecorrespondinghardwaresystemdesign.Inthispaper,thehardwarecircuitinertialnavigationsystemwasthefocusofresearch.HardwarecircuitryprimarilyforFPGAandDSPminimumsystemcircuitry,whilethedesignoftheirassociatedperipheralcircuits.Inadd
4、ition,IdesignedtheanalogsignalacquisitioncircuitandFPGAmodules.FPGAvariousfunctionalmodulesincludedataacquisitionandcontrol,bufferFIFO,UARTserialportandlogiccontrolanddecodeaswellastheentiresystem.Thenstudytheunderlyingsoftwaredesignaboutinertialnavigationsystem,mainlyimplementationofD
5、SPsoftwareandtheDSPinterruptsandBootloadermechanismwereanalyzed.Finally,inthecontextofthecompletionofthecircuitdesign,functionmodulesforFPGA’sUARTandFIFObesimulatedteststoverifythefeasibilityoftheprogramandeachmodule.Thispaperstudiestheinertialnavigationsystemreceivertheinformationabou
6、tIMUdeviceandGPS,andalsotocommunicatewiththehostcomputer.NavigationsystemismainlycontrolledbyFPGAandconfigurationoftheFIFObuffercachedataandextendsthecommunicationUARTserialinterfaceandperipherals.Meanwhile,Thesystemcompletedacalibrationfunctionoftime,throughthegrantingofahostcomputer,
7、thecompletionofthesynchronizationaboutsystemandthesecondpulsePPS,PPStimezeroattherisingedgeofthesecondpulse,combinedwithGPStimeinformationasthestartingserialoutputtime,the万方数据absolutetimeofthesystemiscorrected.Verifiedbyexperimentsdonesynchronizationfunctions.Inertialnavigationsystem
