基于双DSP和FPGA的导航处理系统设计*

作者：张良庆1，宋开臣2* 日期：2010-06-28/span> 浏览：3636 查看PDF文档

基于双DSP和FPGA的导航处理系统设计*
张良庆1，宋开臣2*
（1.浙江大学 流体传动及控制国家重点实验室，浙江 杭州 310027;
2.浙江大学 生物医学工程与仪器科学学院，浙江 杭州 310027）

摘要：机电技术的发展为惯性测量系统的大量应用奠定了基础。针对深海导航应用场合，为了提高深海惯性导航的精度和实时性，设计了基于双数字信号处理器（DSP）和可编程逻辑门阵列（FPGA）的捷联惯性导航计算机，成功构建了低成本、小型化的捷联惯性导航系统（SINS）。重点描述了双DSP和FPGA导航计算机的硬件设计思路。扼要介绍了系统软件的框架结构。与目前大多数的惯性导航系统相比，该系统体积小、重量轻、功耗低，适用于运算复杂的嵌入式惯性导航系统。实验室车载实验结果证明了上述设计的正确性和可行性。
关键词：捷联惯性导航系统；导航计算机；信号完整性仿真；数字信号处理器；可编程逻辑门阵列
中图分类号：TP212.9;U666.1文献标识码：A文章编号：1001-4551(2010)05-0038-04

Design of navigation system based on dual DSP and FPGA

ZHANG Liang-qing1, SONG Kai-chen2
（1. The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;
2. College of Biomedical Engineering & Instrument Science, Zhejiang University, Hangzhou 310027, China）

Abstract: The development of mechatronic technology laid the foundation for the widely use of inertial measurement systems. Aiming at the accuracy and real-time performance of the navigation, the navigation computer based on dual digital signal processor(DSP) and field programmable gate array(FPGA) was designed and the small strapdown inertia navagation system (SINS) with low cost was made up successfully for deep sea fields. The hardware design about the navigation computer based on dual DSP and FPGA was described emphatically. The SINS software was introduced simply. Compared with most of the current SINS, this system has minimized weight and size, low cost and can be applied to embedded inertial navigation systems which are computational complexity. The results of vehicle tests show the validity and feasibility of the above design.
Key words: strapdown inertial navigation system(SINS); navigation computer; signal integrity; digital signal processor(DSP); field programmable gate array（FPGA）