惯性/GNSS组合导航系统双口RAM导航计算机设计与实现

Design and Implementation of Dual-port RAM Navigation Computer for Inertial/GNSS Integrated Navigation System

针对传统惯性/GNSS组合导航系统单处理器无法同时快速实现复杂的数据采集、人机接口、导航解算等问题,介绍了一种基于双口RAM的导航计算机设计方案,给出了系统的软硬件设计方法,提出双DSP对数据采集和导航任务的分工,并通过双口RAM实现了主从控制器之间的实时数据共享。经过多次试验验证,主从系统数据共享时间小于20ns,系统通信速率高、运行稳定可靠,通过串口进行软件及数据更新使调试更方便,为惯性导航系统的设计提供了一种高速、稳定的数据共享方式,具有良好的应用前景。

Aiming at the problems that the single processor of traditional inertial/GNSS integrated navigation system can not simultaneously achieve complex data acquisition,man-machine interface,and navigation solution at the same time,a navigation computer design scheme based on dual-port RAM is introduced,the software and hardware design method of the system is given.The division of data acquisition and navigation tasks by dual-DSP is proposed,the real-time data sharing of master and slave controllers is realized by dual-port RAM.The test verifications show that the data sharing time of master and slave systems is less than 20 ns,the system has high communication rate,stable and reliable operation,software and data update through serial port makes debugging more convenient.It provides a high-speed and stable data sharing method for inertial navigation system design,and has a good application prospect.