High-performance SOC navigation resolving device for inertial navigation and inertial navigation equipment

Abstract

The invention discloses a high-performance SOC navigation resolving device for inertial navigation and inertial navigation equipment. The device comprises a core processor circuit, a parameter and program storage circuit, a program running cache circuit and a temperature acquisition circuit, the core processor circuit comprises a Xilinx Zynq7045 model SOC processor, and the Xilinx Zynq7045 model SOC processor comprises a self-defined navigation IP core module based on an SOC programmable logic PL end and a self-defined multi-serial port extension IP module based on an Avalon bus; the parameter and program storage circuit comprises two serial NOR Flash and is used for storing navigation programs and navigation parameters; the program running cache circuit comprises a DDR3 (Double Data Rate 3) memory which is used as a program running cache; and the Xilinx Zynq7045 model SOC processor is matched with two pieces of serial NOR Flash and one piece of DDR3 (Double Data Rate 3) memory at the same time. According to the invention, high-performance Zynq7045 is used as a processor for navigation calculation, so that the real-time performance of navigation calculation of inertial navigation equipment and the reliability of a module are improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial navigation, and in particular to a high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 and an inertial navigation device. Background Art

[0002] In the field of inertial navigation, inertial navigation equipment can autonomously provide information such as the position, speed and attitude of the carrier, which is the guarantee of safe navigation of ships and the attitude reference for the launch of shipborne weapon systems. In the inertial navigation equipment, gyroscopes and adders are used as inertial sensitive devices to measure three-dimensional angular velocity and linear velocity information. The signal output by the gyroscope is a modulated pulse signal, which contains relevant information such as gyroscope jitter frequency, measurement information, light pressure and light intensity. The angular motion can be solved through the navigation solution logic. The signal output by the adder is a modulated weak current signal. After passing through the current pulse conversion circuit, the signal changes into a pulse signal containing the linear velocity measurement information of the adder. The linear motion can be solved through the navigation solution logic. Platinum resistors are attached to the positive and negative poles of the gyroscope and the adder head. The resistance value at both ends of the platinum resistor represents the temperature information of the device. By measuring the temperature of the gyroscope and the adder, the linear motion and angular motion can be compensated. The information of the above-mentioned inertial devices is subjected to signal demodulation, filtering, temperature collection, temperature compensation, and error compensation to obtain the available angular velocity and linear velocity in three-dimensional space. After navigation solution, the navigation information such as the position, velocity, attitude, attitude angular velocity, etc. of the carrier in the navigation coordinate system is obtained.

[0003] At present, the weapon systems of ships and submarines have increasingly higher requirements for the attitude update frequency of inertial navigation equipment and the real-time performance of navigation solutions. Usually, the DSP+FPGA architecture is used as the main processor module for navigation solutions, and the main frequency can reach 720MHz. The Zynq 7020 is used as the main processor, and the main frequency can usually reach 667MHz. Summary of the invention

[0004] The purpose of the present invention is to provide a high-performance SOC navigation solution device and an inertial navigation device for inertial navigation, which are based on a high-performance Zynq7045 as a main processor for navigation solution, with a maximum main frequency of 1GHz, which greatly reduces the delay caused by data processing. The real-time and reliability of the navigation information output of the inertial navigation device achieved in this way have been well verified, and the requirements of high frequency and high reliability of attitude updates are met.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045, the device includes a core processor circuit, a parameter and program storage circuit, a program running cache circuit and a temperature acquisition circuit;

[0007] The core processor circuit includes a Xilinx Zynq7045 SOC processor, which includes a custom navigation IP core module based on the SOC programmable logic PL end and a custom multi-channel serial port expansion IP module based on the Avalon bus; the parameter and program storage circuit includes two serial NOR Flashes for storing navigation programs and navigation parameters; the program running cache circuit includes a DDR3 memory for serving as a program running cache; the Xilinx Zynq7045 SOC processor is equipped with two serial NOR Flashes and a DDR3 memory at the same time;

[0008] A custom navigation IP core is implemented based on the SOC programmable logic PL side. The IP core detects the phases of 6 signals from 3 gyros in mutually orthogonal directions, counts the pulses of the gyro pulse signals after the detection, and counts the pulses of 6 signals output by the 3 orthogonal adding table output current signals after the current pulse conversion circuit. Then, the pulse count values ​​of the gyroscopes and adding tables are subjected to frequency jitter filtering after incremental calculation. At the same time, the temperature acquisition circuit is controlled by logic to send the temperature value to the specified address of the memory, and the inertial device error compensation is performed after the ARM core on the PS side reads it. One ARM core of the dual-core ARM processor of the SOC chip completes the temperature compensation and cone error compensation of the gyroscope and adding table signals, and the compensated data is sent to the other ARM core for navigation solution to solve the navigation information. Among them, the data interaction of the dual-core ARM processor in the SOC adopts the form of memory sharing.

[0009] The custom multi-channel serial port expansion IP module based on the Avalon bus is connected to the PS end ARM core through the AXI bus, and multi-channel serial port expansion is achieved through parameter configuration.

[0010] In the above scheme, the program runs the cache circuit, which is specifically used to expand the on-chip cache as a high-speed cache space for data processing.

[0011] In the above solution, the device also includes an onboard power supply circuit for converting a specific voltage to power various functional modules in the device.

[0012] In the above scheme, the onboard power supply circuit is based on the four-way power supply circuit design of ADI's LTM4644. By connecting a resistor RFB between the chip FB pin and the ground, the external wide input power supply voltage of 4V to 14V is converted into four power supply voltages of 3.3V, 1.8V, 1.5V, and 1.0V. Among them, 3.3V is used to power the IO port and other interface chips respectively, and 1.8V, 1.5V, and 1.0V are used to power the core voltage. At the same time, feedback is introduced between each output PGOOD pin and INTVCC to control the power-on sequence of each output, ensuring that the core power-on of the core circuit SOC chip takes precedence over the IO port power-on.

[0013] In the above solution, the device also includes a signal isolation circuit, and the core processor circuit is connected to the inertial device through the signal isolation circuit, and the inertial device includes a gyroscope and an adding meter.

[0014] In the above scheme, the input ports of the custom navigation IP core module based on the SOC programmable logic PL end include a 256kHz clock signal port, a 6-way gyroscope input signal port, a 6-way adding table input signal port and an AXI bus interface, and the dual-core ARM performs data interaction and interface control through the bus; the output ports include a synchronization signal port, a temperature control bus port and a test port, which realize the interface logic control of the temperature acquisition chip and generate a synchronization signal to trigger each module to realize data synchronization acquisition control.

[0015] In the above solution, the custom multi-channel serial port expansion IP module based on Avalon bus includes bus interface, data transmission buffer, transmission shift register, data reception buffer, reception shift register, and the interface type is Avalon bus interface, which is connected to the ARM core through AXI interface to Avalon bridge, configured according to user needs, and connected to external devices through level conversion circuit.

[0016] In the above solution, the serial NOR Flash is the N25Q256A series serial NOR Flash of Micron Corporation.

[0017] In the above solution, the DDR3 memory is the MT41J64M16JT series DDR3 memory of Micron Corporation.

[0018] The present invention also provides an inertial navigation device, which includes any one of the above-mentioned high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] The present invention proposes a high-performance SOC navigation and solving device for inertial navigation based on Xilinx Zynq7045 and an inertial navigation device, which realizes data interaction between dual-core ARMs in the form of shared memory, realizes high hardware integration of an inertial device signal processing module and a navigation and solving module, and simultaneously performs logic implementation and management on an interface, thereby solving the problem of high signal processing delay caused by the separation of a core signal processing module and a navigation and solving module in an inertial navigation device, and greatly improving the real-time performance of navigation and solving of the inertial navigation device and the reliability of the module.

[0021] The present invention utilizes the PL-side programmable logic of a SOC processor to realize a serial port expansion module based on an Avalon bus. The serial port module can realize multi-channel serial port expansion based on the SOC, replace the function of the traditional TI company TL16C754 chip, and reduce hardware costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a hardware diagram of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045;

[0023] Figure 2 This is a hardware backend diagram of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045;

[0024] Figure 3 This is a functional block diagram of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045;

[0025] Figure 4 This is a PL-side block view of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045;

[0026] Figure 5 The schematic diagram of the power supply circuit for the core circuit of the navigation solver;

[0027] Figure 6 Storing circuit schematics for parameters and programs;

[0028] Figure 7 This is the schematic diagram of the DDR3 SDRAM circuit of the core circuit of the navigation solution device;

[0029] Figure 8 Customize the navigation solver IP core RTL view for the navigation solver;

[0030] Fig. 9 This is the RTL diagram of the custom multi-serial port expansion module based on the Avalon bus for the navigation solver. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation methods described herein are used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various implementation methods of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0032] The invention provides a high-performance SOC navigation and solving device for inertial navigation based on Xilinx Zynq7045, which highly integrates inertial device data processing and navigation and solving processing into an on-chip SOC, realizes high-speed operation and data interaction by using a built-in dual-core ARM processor in a SOC, realizes logical realization and management of external interfaces by built-in Kintex architecture programmable logic resources, and uses a unified memory allocation form for data transmission, which can effectively solve the problem of high signal processing delay caused by data processing and transmission of different chips, and greatly improves the real-time performance of navigation and solving of inertial navigation equipment and the reliability of circuits.

[0033] The present invention provides a high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045, wherein the hardware part mainly consists of a core processor circuit, an onboard power supply circuit, a signal isolation circuit, a temperature acquisition circuit, a level conversion circuit, etc., and the software part mainly consists of a custom navigation IP core module based on a programmable logic PL end and a custom multi-channel serial port expansion IP module based on an Avalon bus.

[0034] The core processor circuit includes a Xilinx Zynq7045 SOC processor, two Micron N25Q256A series serial Flashes for storing navigation programs and important navigation parameters, and a Micron MT41J64M16JT series DDR3 memory for serving as a program running cache. A custom navigation IP core is implemented based on the SOC programmable logic PL side. The IP core can detect the phases of 6 signals from 3 gyroscopes in mutually orthogonal directions, count the pulses of the gyroscope pulse signals after the detection, and count the pulses of 6 signals output by the 3 adding table output current signals in mutually orthogonal directions after passing through the current pulse conversion circuit; then, the pulse count values ​​of the above gyroscopes and adding tables are subjected to frequency jitter filtering after incremental calculation. The IP core also performs logic control of the temperature acquisition circuit to send the temperature value to the specified address of the memory, and the PS-side ARM core reads it and performs inertial device error compensation; one ARM core of the dual-core ARM processor of the SOC chip completes the temperature compensation and cone error compensation of the gyroscope and adding table signals, and the compensated data is sent to the other ARM core for navigation solution to solve the navigation information; wherein, the data interaction of the dual-core ARM processor in the SOC adopts the form of memory sharing.

[0035] Among them, the custom multi-serial port expansion module based on the Avalon bus is implemented on the SOC programmable logic PL side, which is connected to the PS side ARM core through the AXI bus, and can realize multi-channel serial port expansion through parameter configuration. The onboard power supply circuit is used to convert the 5V voltage to power the various functional modules in the device.

[0036] Furthermore, the device also includes a parameter and program storage circuit for storing the navigation program and important navigation parameters to ensure that the important parameters and the navigation program are not lost when the device loses power.

[0037] Furthermore, the device also includes a program execution cache circuit for expanding the on-chip cache as a high-speed cache space for data processing.

[0038] Specifically, a high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 in an embodiment of the present invention, as a core navigation solution circuit module in an inertial navigation device, demodulates and processes gyroscope and meter signals and performs navigation solution, and outputs navigation information such as device position, speed, heading, attitude, and attitude angular velocity.

[0039] The hardware part of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045 in an embodiment of the present invention is mainly composed of a core processor circuit, a parameter and program storage circuit, a program running cache circuit, an onboard power supply circuit, a signal isolation circuit, a temperature acquisition circuit, a level conversion circuit, etc., and the software part is mainly composed of a custom navigation IP core module based on the programmable logic PL end and a custom multi-channel serial port expansion IP module based on the Avalon bus.

[0040] The core processor circuit module used in the embodiment of the present invention includes a Xilinx Zynq7000 series SOC chip, and the operating frequency can reach up to 1GHz. Based on the on-chip programmable PL end of the SOC chip, a custom navigation IP core module is implemented. The IP core module can realize phase discrimination of 6 signals of 3 gyroscopes in mutually orthogonal directions, and count the pulses of the gyroscope pulse signals after phase discrimination, and count the pulses of 6 signals output by the 3 orthogonal adding table output current signals after the current pulse conversion circuit, and then perform frequency jitter filtering on the pulse count values ​​of the gyroscope and the adding table after incremental calculation. At the same time, the IP core module can also realize the timing control of the temperature measurement circuit chip, collect the resistance value of the platinum resistor on the inertial device at the current temperature; and store the temperature value corresponding to the collected resistance value and the value of the gyroscope and the adding table in the designated cache area. The dual-core ARM based on the SOC chip and the PL end based on programmable logic use shared memory to realize data interaction, which greatly improves the data processing efficiency and transmission reliability. One of the ARM cores reads the values ​​of the gyroscope and the table in the memory and the collected temperature information to compensate for the inertial device errors. The compensated data is output at a rate of 200 Hz and shared with the other ARM core for navigation calculation to calculate navigation information such as attitude, position, and speed. The dual-core ARM data interaction and interaction with external data (such as satellite navigation, odometer, etc.) are realized by shared memory.

[0041] This solution mainly integrates the inertial device acquisition circuit into SOC, and uses a SOC chip to realize all interface logic and data processing operations. At the same time, the SOC on-chip PL-side programmable logic resources are used to implement a custom navigation IP core module and a custom multi-channel serial port expansion IP module of the Avalon bus, which can enhance the real-time and portability of signal processing.

[0042] Figure 1 and Figure 2 This is a hardware PCB layout diagram of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045. Figure 1 For the front picture, Figure 2 It is the after picture. Figure 3This is a functional block diagram of a high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045.

[0043] The schematic diagram of the onboard power supply circuit is as follows Figure 5 As shown in the figure: Based on the four-way power supply circuit design of ADI's LTM4644, a resistor RFB is connected between the chip FB pin and the ground to convert the external wide input power supply voltage of 4V to 14V into four power supply voltages of 3.3V, 1.8V, 1.5V, and 1.0V, of which 3.3V is used to power the IO port and other interface chips, and 1.8V, 1.5V, and 1.0V are used to power the core voltage. At the same time, feedback is introduced between each output PGOOD pin and INTVCC to control the power-on sequence of each output, ensuring that the core circuit SOC chip's core power-on takes precedence over the IO port power-on.

[0044] Parameter and program storage circuit schematic diagram as shown Figure 6 As shown, the SOC chip is equipped with two pieces of Micron's N25Q256A series serial NOR Flash, which are used to store navigation programs and important navigation parameters to ensure that important parameters and navigation programs are not lost when the device loses power. If necessary, the parameters and programs can be stored in two NOR Flashes respectively.

[0045] The schematic diagram of the program running cache circuit is as follows Figure 7 As shown, the SOC chip is equipped with a Micron MT41J64M16JT series DDR3 memory to expand the on-chip cache as a high-speed cache space for data processing.

[0046] A high-performance SOC navigation solver for inertial navigation based on Xilinx Zynq7045 PL-side block view Figure 4 As shown in the figure, a custom navigation solution IP core based on programmable logic is implemented. Figure 8 The IP core input port includes a 256kHz clock signal port, a 6-way gyroscope input signal port, a 6-way meter input signal port, and an AXI bus interface, through which the dual-core ARM can perform data interaction and interface control; the output port includes a synchronization signal port, a temperature control bus port, and a test port, which can realize the interface logic control of the temperature acquisition chip and generate synchronization signals to trigger each module to realize data synchronization acquisition control.

[0047] Customized multi-serial port expansion modules based on Avalon bus such as Fig. 9As shown in the figure, the module includes bus interface, data transmission buffer, transmission shift register, data reception buffer, reception shift register, etc., as well as serial port baud rate, parity bit, etc. The interface type is Avalon bus interface, which can be connected to the ARM core through AXI interface to Avalon bridge, and can be configured according to user needs, supporting CPU input clock up to 120Mhz, and the baud rate can reach up to 921600bit / s. The programmable serial port expansion module is connected to external devices through a level conversion circuit.

[0048] The present invention also provides an inertial navigation device, which uses the above-mentioned high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq 7045 to perform navigation solution.

[0049] In summary, the high-performance SOC navigation solution device and inertial navigation equipment for inertial navigation based on Xilinx Zynq7045 of the present invention realize the high hardware integration of inertial device signal processing and navigation solution, and improve the reliability of the equipment. A custom navigation solution IP core based on programmable logic is invented, which realizes the acquisition of gyroscope and addition table signals, jitter frequency calculation and jitter frequency low-pass filtering, and has lower latency than the traditional DSP-based calculation implementation, from milliseconds to nanoseconds, and the data output is more real-time. A custom multi-serial port expansion module for the Avalon bus is invented, which has a lower bit error rate and lower power consumption of the whole machine than the traditional serial port expansion based on multiple TI TL16C754 chips.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045, characterized in that: The device includes a core processor circuit, a parameter and program storage circuit, a program running cache circuit and a temperature acquisition circuit; The core processor circuit includes a Xilinx Zynq7045 SOC processor, which includes a custom navigation IP core module based on the SOC programmable logic PL end and a custom multi-channel serial port expansion IP module based on the Avalon bus; the parameter and program storage circuit includes two serial NOR Flashes for storing navigation programs and navigation parameters; the program running cache circuit includes a DDR3 memory for serving as a program running cache; The Xilinx Zynq7045 SOC processor is equipped with two serial NOR Flash and one DDR3 memory; A custom navigation IP core is implemented based on the SOC programmable logic PL side. The IP core detects the phases of 6 signals from 3 gyros in mutually orthogonal directions, counts the pulses of the gyro pulse signals after the detection, and counts the pulses of 6 signals output by the 3 orthogonal adding table output current signals after the current pulse conversion circuit. Then, the pulse count values ​​of the gyroscopes and adding tables are subjected to frequency jitter filtering after incremental calculation. At the same time, the temperature acquisition circuit is controlled by logic to send the temperature value to the specified address of the memory, and the inertial device error compensation is performed after the ARM core on the PS side reads it. One ARM core of the dual-core ARM processor of the SOC chip completes the temperature compensation and cone error compensation of the gyroscope and adding table signals, and the compensated data is sent to the other ARM core for navigation solution to solve the navigation information. Among them, the data interaction of the dual-core ARM processor in the SOC adopts the form of memory sharing. The custom multi-channel serial port expansion IP module based on the Avalon bus is connected to the PS end ARM core through the AXI bus, and multi-channel serial port expansion is achieved through parameter configuration.

2. According to claim 1, a high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 is characterized in that: The program running cache circuit is specifically used to expand the on-chip cache as a high-speed cache space for data processing.

3. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The device also includes an onboard power supply circuit for converting a specific voltage to supply power to various functional modules in the device.

4. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 3 is characterized in that: The onboard power supply circuit is based on the four-way power supply circuit design of ADI's LTM4644. By connecting a resistor RFB between the chip FB pin and the ground, the external wide input power supply voltage of 4V to 14V is converted into four power supply voltages of 3.3V, 1.8V, 1.5V, and 1.0V. Among them, 3.3V is used to power the IO port and other interface chips respectively, and 1.8V, 1.5V, and 1.0V are used to power the core voltage. At the same time, feedback is introduced between each output PGOOD pin and INTVCC to control the power-on sequence of each output, ensuring that the core circuit SOC chip is powered on before the IO port.

5. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The device also includes a signal isolation circuit, through which the core processor circuit is connected to the inertial device, and the inertial device includes a gyroscope and an adding meter.

6. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The input ports of the custom navigation IP core module based on the SOC programmable logic PL end include a 256kHz clock signal port, a 6-way gyroscope input signal port, a 6-way adding table input signal port and an AXI bus interface. The dual-core ARM performs data interaction and interface control through this bus; the output ports include a synchronization signal port, a temperature control bus port and a test port to realize the interface logic control of the temperature acquisition chip and generate a synchronization signal to trigger each module to realize data synchronization acquisition control.

7. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The custom multi-channel serial port expansion IP module based on Avalon bus includes bus interface, data transmission buffer, transmission shift register, data reception buffer, and reception shift register. The interface type is Avalon bus interface, which is connected to the ARM core through AXI interface to Avalon bridge, configured according to user needs, and connected to external devices through level conversion circuit.

8. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The serial NOR Flash is Micron's N25Q256A series serial NOR Flash.

9. The high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 according to claim 1, characterized in that: The DDR3 memory is the MT41J64M16JT series DDR3 memory of Micron Corporation.

10. An inertial navigation device, characterized in that: The inertial navigation device comprises a high-performance SOC navigation solution device for inertial navigation based on Xilinx Zynq7045 as described in any one of claims 1 to 9.

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