Navigation computer system based on ARM and FPGA

Abstract

The utility model discloses a navigation computer system based on an ARM (Advanced RISC Machines) and an FPGA (Field Programmable Gate Array), and relates to the technical field of fiber-optic gyroscope inertial navigation. The triaxial strapdown fiber-optic gyroscope signal sampling circuit is used for collecting and sending a fiber-optic gyroscope signal; the accelerometer sensor sampling circuit is used for converting an analog signal of an accelerometer into a digital signal; the navigation computer is mainly used for executing navigation calculation and corresponding control, and the external interface circuit is responsible for completing a function of exchanging navigation information and external input information of a navigation computer system; the utility model provides a navigation computer system which is low in power consumption, high in real-time performance and extensible, realizes rapid fusion of multi-source sensor data and high-precision navigation calculation, is simple in system structure, can be designed in a miniaturized manner, and reduces the size of a fiber-optic gyroscope inertial navigation system.

Description

TECHNICAL FIELD

[0001] The utility model belongs to optical fiber gyro inertial navigation technical field, concretely relates to a navigation computer system based on ARM and FPGA. BACKGROUND

[0002] The optical fiber gyro inertial navigation system is a navigation parameter resolving system with gyro and accelerometer as sensitive devices, which establishes a navigation coordinate system according to the output of the gyro and resolves the velocity and position of the carrier in the navigation coordinate system according to the output of the accelerometer.

[0003] The existing navigation computer system adopts single processor architecture (such as ARM or DSP), and has problems of insufficient real-time performance, weak multi-sensor parallel processing capability, poor expansibility and the like. CONTENT OF THE UTILITY MODEL

[0004] To solve the problems mentioned in the background technology, the utility model aims at providing a navigation computer system based on ARM and FPGA.

[0005] The navigation computer system based on ARM and FPGA comprises a three-axis strapdown optical fiber gyro signal sampling circuit, an accelerometer sensor sampling circuit, a navigation computer and an external interface circuit.

[0006] As a preferred scheme, the chip of the navigation computer is an ARM chip and an FPGA chip.

[0007] As a preferred scheme: the triad strapdown fiber-optic gyroscope signal sampling circuit comprises a photoelectric detector, a preamplifier, an A / D converter, a D / A converter, an amplifier and a phase modulator; the photoelectric detector is connected with the preamplifier, the fiber-optic gyroscope signal is converted into a voltage signal through the photoelectric detector, the preamplifier is connected with the A / D converter, the preamplifier converts the voltage signal into a digital signal through the A / D converter after amplification, the A / D converter is connected with an FPGA chip, the FPGA chip is responsible for signal demodulation, integration and step wave generation processing on the received digital signal, the FPGA chip is connected with the D / A converter, the digital signal output by the FPGA chip is converted into an analog signal through the D / A converter, the D / A converter is connected with the amplifier, the amplifier is connected with the phase modulator, the signal is amplified through the amplifier and then output to the phase modulator to complete the control on the loop, and the gyroscope digital signal quantity in the FPGA register is sent to a navigation computer.

[0008] As a preferred scheme: the accelerometer sensor sampling circuit comprises a triaxial accelerometer, a precision resistor, an A / D converter, an FPGA chip and an ARM chip; the triaxial accelerometer is connected with the precision resistor, the precision resistor is connected with the A / D converter, the A / D converter is connected with the FPGA chip, the FPGA chip is connected with the ARM chip, the current signal output by the triaxial accelerometer is converted into a digital signal through the AD converter, the FPGA chip of the navigation computer performs signal acquisition, and data synchronization is performed on the fiber-optic gyroscope signal through a synchronization signal and then the data are packaged and sent to the ARM chip for navigation data processing.

[0009] As a preferred scheme: the precision resistor converts the current signal of the triaxial accelerometer into a voltage signal.

[0010] Compared with the prior art, the utility model has the advantages that:

[0011] I. provide a low-power, high real-time, scalable navigation computer system.

[0012] II. Realize the rapid fusion of multi-source sensor data and high-precision navigation calculation.

[0013] III. The system structure is simple, can be miniaturized, and reduces the size of the fiber-optic gyroscope inertial navigation system. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to facilitate the description, the utility model is described in detail by the following specific embodiments and drawings.

[0015] Figure 1 It is a triaxial strapdown fiber-optic gyroscope signal sampling circuit schematic diagram in the utility model;

[0016] Figure 2The utility model discloses an accelerometer sensor sampling circuit schematic diagram for the utility model.

[0017] Figure 3 The utility model discloses a navigation computer circuit schematic diagram. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantage of the utility model more clear and obvious, the following specific embodiment shown in the drawing is used to describe the utility model. However, it should be understood that these descriptions are only exemplary, and not to limit the scope of the utility model. The structure, proportion, size etc. shown in the drawing of the specification are only used to cooperate the content disclosed in the specification, to be understood and read by the person skilled in the art, and not to limit the limiting conditions that the utility model can be implemented, so it does not have the substantial meaning of technology, any modification of structure, change of proportion relationship or adjustment of size, as long as it does not affect the effect and the purpose that the utility model can produce, should still fall within the range that the technical content disclosed by the utility model can cover. In addition, in the following description, the description of the known structure and technology is omitted to avoid unnecessary confusion of the concept of the utility model.

[0019] Here, it also needs to be explained that in order to avoid the utility model from being obscured by unnecessary details, only the structure and / or processing steps closely related to the scheme according to the utility model are shown in the drawing, and other details not closely related to the utility model are omitted.

[0020] The specific embodiment adopts the following technical scheme: including three-axis strapdown optical fiber gyro signal sampling circuit, accelerometer sensor sampling circuit, navigation computer, external interface circuit;The three-axis strapdown optical fiber gyro signal sampling circuit completes the collection and sending of optical fiber gyro signal, and the accelerometer sensor sampling circuit completes the conversion of analog signal of accelerometer into digital signal;The navigation computer is mainly used to execute navigation solution and corresponding control, and the external interface circuit is responsible for completing the exchange function of navigation information of navigation computer system and external input information.

[0021] In combination with Figure 1 The specific embodiment adopts the following technical scheme: the optical fiber gyro signal is first changed into voltage signal through photoelectric detector, is changed into digital signal through A / D converter after being amplified through precision operational amplifier, the FPGA chip is responsible for signal demodulation, integration and step wave generation etc. processing to the received digital signal, and the output digital signal is changed into analog signal through D / A converter, the signal is amplified through amplifier and is output to phase modulator to complete the control of loop, and the gyro digital signal amount in the FPGA register is sent to the navigation computer.

[0022] In combination with Figure 2The acceleration sensor sampling circuit mainly converts the current signal output by the three-axis accelerometer into a digital signal through an AD converter, and collects the digital signal through a navigation computer FPGA, and sends the data to an ARM for navigation data processing after data synchronization and packaging through a synchronous signal and a fiber-optic gyroscope signal.

[0023] In combination Figure 3 The FPGA in the navigation computer is mainly responsible for sensor data reading and transceiving communication data functions, the fiber-optic gyroscope signal is a digital signal and can be directly read by the FPGA, the accelerometer and the temperature sensor are analog signals, and the signals are converted into digital signals by the FPGA controlling an AD chip, the AD chip adopted by the autonomous orientation system is a 24-bit converter, the conversion rate is 400Hz, the FPGA prepares sensor data and then generates an interrupt, the ARM receives the interrupt signal and can read data through a specified port address, and then data processing and navigation calculation can be performed, and the navigation information obtained by the ARM is finally sent to an external device through the FPGA. The commands and data of the external device are also received by the FPGA, and then an interrupt is generated, and then the ARM reads through a specified address.

[0024] The FPGA chip of the navigation computer in the embodiment is selected from a hurricane 10 series of Altera Company, the navigation computer FPGA mainly performs noise reduction and data packaging on IMU raw data, and the navigation computer ARM mainly receives preprocessed data of the FPGA and executes a navigation calculation algorithm.

[0025] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-restrictive, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and range of equivalent elements of the claims are intended to be embraced in the present application.

[0026] In addition, it should be understood that, although the present application is described in the specification in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. An ARM and FPGA based navigation computer system, characterized by: It comprises a three-axis strapdown optical fiber gyroscope signal sampling circuit, an accelerometer sensor sampling circuit, a navigation computer and an external interface circuit.

2. The ARM and FPGA based navigation computer system according to claim 1, characterized in that: The chip of the navigation computer is an ARM chip and an FPGA chip.

3. The ARM and FPGA based navigation computer system according to claim 1, wherein: The three-axis strapdown optical fiber gyroscope signal sampling circuit comprises a photoelectric detector, a preamplifier, an A / D converter, a D / A converter, an amplifier and a phase modulator. The photoelectric detector is connected with the preamplifier, the optical fiber gyroscope signal is converted into a voltage signal by the photoelectric detector, the preamplifier is connected with the A / D converter, the preamplifier amplifies the voltage signal and converts it into a digital signal through the A / D converter, the A / D converter is connected with the FPGA chip, the FPGA chip is responsible for signal demodulation, integration and step wave generation processing of the received digital signal, the FPGA chip is connected with the D / A converter, the digital signal output by the FPGA chip is converted into an analog signal through the D / A converter, the D / A converter is connected with the amplifier, the amplifier is connected with the phase modulator, the signal is amplified by the amplifier and then output to the phase modulator to complete the control of the loop, and the gyroscope digital signal quantity in the FPGA register is sent to the navigation computer.

4. The ARM and FPGA based navigation computer system according to claim 1, wherein: The accelerometer sensor sampling circuit comprises a three-axis accelerometer, a precision resistor, an A / D converter, an FPGA chip and an ARM chip.

5. The ARM and FPGA based navigation computer system of claim 4, wherein: The precision resistor converts the current signal of the three-axis accelerometer into a voltage signal. The precision resistor converts the current signal of the three-axis accelerometer into a voltage signal.

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