一种基于传感器触发的组合导航系统平台

An Experiment Platform for Integrated Navigation System Based on Sensor Triggering

提出了一种采用DSP+Dual-Ram+C51硬件平台,基于导航传感器触发,成本低廉、简单可靠的组合导航试验平台,给出了硬件及软件设计方案以及IMU与GPS信号不同步的处理方法;基于TL16C554和89C51的多串口采集板弥补DSP薄弱数据采集能力;双口Ram用于51和DSP间高速数据共享;DSP负责捷联解算,滤波等处理,发挥其强大的运算能力;51和DSP程序的运行都直接或间接依赖于导航传感器触发。

This paper proposes an entire, low--cost, easy--plan design, in which the hardware devices are mainly composed of DSP, Dual--Ram, 89C51 （all of them are cheap）, the software adopts the simple single thread method, and most of the program processes of C51 and DSP such as dada acquisition and filter are triggered by navigation sensors, for the integrated navigation system experimental board. The hardware and soft design plan are presented in this paper, and a solution for IMU and GPS time lag is presented too. The data acquisition board with four serial port base on 89C51 and TL16C554 is used for covering the data acquisition shortage of DSP; Dual--Ram for the high speed information share between C51 and DSP; DSP is applied to strapdown algorithm and filter process, which can make full use of its operation advantage. All the programs running in C51 and DSP must be triggered by navigation sensors. Practices indicate this design is feasible.