CN214470910U - Navigation computer for inertial navigation system - Google Patents
Navigation computer for inertial navigation system Download PDFInfo
- Publication number
- CN214470910U CN214470910U CN202023215694.0U CN202023215694U CN214470910U CN 214470910 U CN214470910 U CN 214470910U CN 202023215694 U CN202023215694 U CN 202023215694U CN 214470910 U CN214470910 U CN 214470910U
- Authority
- CN
- China
- Prior art keywords
- module
- navigation
- navigation computer
- processing module
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model provides a navigation computer for inertial navigation system to Zynq7000 SoC able to programme entirely is as core processor, configures the hardware part that units such as clock, power, storage, interface constitute navigation computer, utilizes Zynq7000 programmable logic unit to realize data acquisition, and embedded dual-core ARM treater realizes inertial navigation algorithm. The utility model discloses realized inertia device raw data acquisition on single processor chip, navigation information preliminary treatment, navigation are resolved functions such as, have solved the problem that current navigation computer is bulky, the consumption is high, the computing power is not enough.
Description
Technical Field
The utility model belongs to the technical field of navigation, concretely relates to inertial navigation is navigation computer for system.
Background
An inertial navigation system is a system that determines the state of a vehicle using gyroscopes and accelerometers mounted on the vehicle. The gyroscope is used for sensing angular motion information, the accelerometer is used for sensing linear motion information, and the inertial navigation system can determine the motion of the carrier in the inertial reference system according to data of the gyroscope and the accelerometer.
Compared with other types of navigation systems, such as satellite navigation, astronomical navigation, radio navigation, etc., the inertial navigation system is completely autonomous, does not transmit signals to the outside or receive signals from the outside, and continuously estimates the motion state of the carrier after startup by using inertial measurement values according to the precise position of the carrier at the initial time. The inertial navigation system is widely applied to military fields such as submarines, ships, airplanes, rockets, satellites and the like due to the completely autonomous characteristic.
The navigation computer is a key technology of an inertial navigation system, and is mainly used for collecting signals output by a gyroscope and an accelerometer of an inertial device, and performing navigation calculation mechanical arrangement according to the collected inertial information and initial position information bound externally to obtain navigation information such as the course, the attitude, the speed and the position of a carrier. The navigation resolving mechanics arrangement relates to a large amount of high-order matrix operation and polynomial operation, and the operation amount is large; and the calculation frequency has direct influence on the navigation precision, which puts high requirements on the performance of a navigation computer. The traditional navigation computer adopts the architecture schemes of single DSP + FPGA, double DSP + FPGA, SoC, PC and the like, and along with the development situation of an inertial navigation system with low power consumption, miniaturization and high precision, the traditional navigation computer can not meet the requirement of novel inertial navigation.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a high performance, small navigation computer for solving among the inertial navigation system the problem that traditional navigation computer is bulky, the consumption is high, computing power is limited.
The specific technical scheme of the utility model is a navigation computer for inertial navigation system, navigation system include inertia measuring unit, information exchange unit and the navigation computer, its characterized in that, the navigation computer includes processing module, digital isolation module, temperature measurement module, deposits module, memory module and storage module; and further comprising at least one of a digital interface module and a network interface module;
the digital isolation module is an isolation chip, the input end of the digital isolation module is connected with the inertial measurement unit, and the output end of the digital isolation module is connected with the processing module and is used for acquiring navigation parameter data in the inertial measurement unit and inputting the navigation parameter data into the processing module;
the temperature measurement module is a temperature measurement chip, the input end of the temperature measurement module is connected with the inertia measurement unit, and the output end of the temperature measurement module is connected with the processing module and is used for acquiring temperature parameter data in the inertia measurement unit and inputting the temperature parameter data into the processing module;
the registering module is a QSPI register and is connected with the processing module;
the memory module is a memory and is connected with the processing module;
the storage module is a nonvolatile memory and is connected with the processing module;
the digital interface module is an isolated transceiver, one end of the digital interface module is connected with the processing module, and the other end of the digital interface module is connected with the information exchange unit and is used for data interaction between the processing module and the information exchange unit;
the network interface module is an Ethernet chip, one end of the network interface module is connected with the processing module, and the other end of the network interface module is connected with the information exchange unit and used for data interaction between the processing module and the information exchange unit.
Still further, the inertial measurement unit includes a gyroscope and an accelerometer having RTD thermal resistors; the temperature measurement module is a temperature measurement chip LTC2983, and the input end of the temperature measurement chip is respectively connected with RTD thermal resistors inside the gyroscope and the accelerometer.
Further, the digital isolation module is a six-channel isolation chip ADuM 7640; the isolation chip is used for acquiring the pulse data signals of the gyroscope and the accelerometer.
Furthermore, the processing module is a ZYNQ extensible processing platform, and the ZYNQ extensible processing platform comprises a programmable logic unit and a dual-core processing system; the dual core processing system includes core 0 and core 1.
Furthermore, the memory module includes two identical DDR3 memories, and the two DDR3 memories are connected to the core 0 and the core 1, respectively.
Furthermore, the digital interface is an isolated transceiver ADM2582, and the isolated transceiver is used for ensuring the navigation computer to be isolated from external signals and avoiding external interference signals from crosstalk into the navigation computer.
Furthermore, the network interface module is an 88E1512 gigabit ethernet transceiver, and the ethernet transceiver is configured to form an adaptive gigabit ethernet interface with the ZYNQ scalable processing platform.
Furthermore, the navigation computer comprises a clock module, and the clock module is connected with the processing module and provides a clock signal for the processing module.
Furthermore, the navigation computer comprises a power management module, and the power management module is respectively connected with the processor module, the clock module and the temperature measurement module.
The utility model has the advantages that:
the utility model provides a navigation computer adopts the expanded processing platform of ZYNQ, can use simultaneously and be used to the system of leading and the laser gyro is used to lead the system with fiber-optic gyroscope, has compatible good, the computing power is strong, the low power dissipation, small, to the characteristics that the external interface is abundant, the expansibility is good.
The utility model provides a navigation computer adopts digital interface and network interface to carry out the interaction with user information simultaneously, and two kinds of interfaces use simultaneously and have improved data transmission's stability, still possess another kind of interface and ensure the transmission of data simultaneously under the condition that special case used because of an interface can't be used.
The utility model provides a navigation computer is for the DSP + FPGA framework scheme that navigation computer often adopted among the present inertial navigation system, navigation computer based on ZYNQ framework has realized data acquisition on single chip, navigation information preliminary treatment, functions such as navigation is resolved, the integrated level is high, small, the low power dissipation, and computing power obtains promoting by a wide margin, 100Hz navigation that often adopts of system of being used to at present is resolved the frequency and is promoted to 1KHz, navigation system data update rate has been promoted.
Drawings
Fig. 1 is a schematic structural diagram of a navigation computer for an inertial navigation system according to the present invention.
Detailed Description
The following describes the technical solution of the present invention with reference to the drawings.
As shown in fig. 1, the utility model discloses a navigation computer for inertial navigation system, this navigation computer system include inertial measurement unit, information exchange unit and navigation computer, and the navigation computer includes processing module, deposits module, memory module, storage module, clock module, digital interface module, network interface module, digital isolation module, temperature measurement module and power management module.
The digital isolation module is an isolation chip, the input end of the digital isolation module is connected with the inertial measurement unit and is used for realizing navigation parameter data acquisition of a gyroscope and an accelerometer in the inertial measurement unit and converting an analog signal in the inertial measurement unit into a digital signal; the output end of the digital isolation module is connected with the processing module and used for transmitting the digital signals of the gyroscope and accelerometer pulse data to the processing module.
The input end of the temperature measurement module is connected with the inertia measurement unit, the output end of the temperature measurement module is connected with the processing module, and the temperature measurement module is used for acquiring temperature parameter data of the gyroscope and the accelerometer in the inertia measurement unit and transmitting temperature digital signals of the gyroscope and the accelerometer to the processing module.
The processing module is used for processing the acquired navigation parameter data and the acquired temperature parameter data.
The registering module is a QSPI register connected with the processing module and used for storing a navigation compensation model and a navigation resolving model for navigation.
The memory module is a 1GB memory and is used for running a navigation preprocessing program and a navigation settlement program.
The storage module is a nonvolatile memory, is connected with the processing module through an SD bus and is used for storing original data of navigation parameter data and temperature parameter data output by the inertial measurement unit in navigation, so that the data can be used for analyzing the working state of the system afterwards.
The digital interface module is an isolated transceiver, one end of the digital interface module is connected with the processing module, and the other end of the digital interface module is connected with the information exchange unit, so that information interaction between the inertial navigation system and a user is realized.
The network interface module is an Ethernet chip, one end of the network interface module is connected with the processor module, and the other end of the network interface module is connected with the information exchange unit and used for realizing information interaction between the inertial navigation system and a user.
The clock module is connected with the processing module and provides a clock signal for the processing module.
And the power management module is respectively connected with the processor module, the clock module and the temperature measurement module and is used for supplying power to the navigation computer.
In one embodiment, a processing module of the navigation computer is a main control chip ZYNQ XC7Z020CLG484 which integrates an ARM dual-core Cortex A9 processor and an 85K programmable logic unit, the main frequency of each ARM core reaches 766MHz, and a high-precision floating point arithmetic unit (VFPU) is integrated, so that the requirement of an inertial navigation system on ultrahigh computing power of navigation computing power can be met. In design, a QSPI register chip N25Q128A of Micron company is selected to be connected with ZYNQ and used for storing a ZYNQ chip starting program, the storage capacity of the register chip is 128Mb, and the storage requirements of a boot program, a programmable logic movie program, an ARM core 0 program and an ARM core 1 program can be met; the memory module is provided with two DDR3 chips MT41K256M16 of Micron company to expand the ZYNQ chip memory, the processor can run more efficiently by expanding the memory, the operation efficiency of the navigation algorithm is improved, the 1GB memory capacity is expanded by the two DDR3 chips, 512MB memory space is distributed to each of the core 0 and the core 1, and a navigation preprocessing program and a navigation settlement program run independently; the storage module is provided with an eMMC chip GLS85VM1032 of Greenlian company and is connected with ZYNQ through an SD bus, the chip is a nonvolatile memory, the storage capacity reaches 32GB, original data of a gyroscope and an accelerometer collected in the running process of the navigation system can be stored, and the original data are used for analyzing the working state of the system afterwards.
The network interface module selects 88E1512 of Marvell company, the working voltage of a chip is 1.8V, and the chip is connected with a ZYNQ integrated network MAC controller to form a self-adaptive gigabit Ethernet interface.
The digital interface module adopts an Analog company ADM2582 isolated transceiver, can provide +/-15 Kv ESD protection, and has a data transmission rate of 16 Mbps. The isolated transceiver can ensure the navigation computer to be isolated from external signals, avoid external interference signals from interfering into the navigation computer, and ensure the reliability of the navigation computer.
The temperature measurement module adopts a multi-sensor high-precision digital temperature measurement integrated chip LTC2983 of Analog company, can directly carry out digital processing on an RTD, a thermocouple, a thermistor and a diode, and is used for measuring the temperature of a gyroscope and an accelerometer so as to realize performance compensation of the gyroscope and the accelerometer; an LTC2983 temperature measurement chip of the temperature measurement module is respectively connected with the gyroscope and an RTD temperature measurement sensor inside the accelerometer; the ZYNQ controller is connected with the LTC2983 through an SPI bus, and temperature measurement values of a wanted channel can be directly read through register configuration.
The digital isolation module adopts an Analog company ADuM7640 digital isolation chip, can realize 3V/5V level conversion, and has the highest transmission rate of 25 Mbps. The TTL level signal that gyroscope and accelerometer output is connected with the isolation chip, can convert the 5V level into 3.3V, supplies ZYNQ controller sampling, and the isolation chip can realize that the level is kept apart between the inside gyroscope of IMU, accelerometer and the navigation computer, avoids signal coupling, interference between each module, improves system reliability.
ZYNQ is taken as a processing module, and a PS end and a PL end are integrated in a chip, so that the traditional mainstream navigation computer dual-DSP + FPGA architecture scheme can be replaced. The PL terminal is a programmable logic unit and is programmed through a hardware description language, mainly realizes temperature acquisition, gyroscope and accelerometer pulse signal sampling, filtering and counting, generates interrupt at regular time and informs the PS terminal to read sampling data. The PS end comprises two ARM cores, and the ARM core 0 processor is mainly responsible for preprocessing inertial navigation information, including temperature compensation of a gyroscope and an accelerometer, installation error compensation and cone error compensation, and converts acquired original data into inertial data which can be used for navigation. The ARM core 1 is mainly responsible for inertial navigation mechanics arrangement and external interface communication, the core 1 reads original data processed by the core 0 through a shared memory, navigation information such as course, posture, speed and position of the inertial navigation system is obtained through calculation according to initial position information bound outside and a navigation resolving equation, and the navigation information is sent out through RS422 or Ethernet according to external use requirements.
The effect of the invention is explained by combining the structure and the working principle of the utility model as follows:
the utility model discloses a navigation computer is connected with Inertial Measurement Unit (IMU), and gyroscope and accelerometer output signal among the inertial measurement unit are TTL pulse signal, and gyroscope and accelerometer signal keep apart chip ADuM7640 back through the six passageway of digital isolation module respectively and link to each other with processing module's PL end (programmable logic unit), and the PL end is to pulse signal filtering, border sampling, count, the buffer memory of gyroscope and accelerometer input respectively. An LTC2983 temperature measurement chip of the temperature measurement module is respectively connected with RTD temperature measurement sensors inside the gyroscope and the accelerometer, and a PL (programmable logic controller) end reads a temperature value measured by an LTC2983 temperature measurement unit through an SPI (serial peripheral interface) and caches the temperature value in a corresponding memory. And generating a high-precision 4KHz interrupt signal by PL frequency division, and informing the ARM core 0 processor to read output signals and temperature values of the gyroscope and the accelerometer at corresponding addresses. The kernel 0 processor reads a pre-calibrated gyroscope and accelerometer temperature compensation model and an installation error model from the QSPI register, performs temperature compensation and installation error compensation on signals of the gyroscope and the accelerometer according to the error model, performs compensation on errors caused by conical motion in the inertial navigation system by using a four-sample iterative algorithm on the compensated data, and converts the compensated data into effective data which can be subjected to high-precision navigation calculation. The core 0 transmits the error compensated inertial original data to the core 1 by a memory sharing method, the core 1 obtains the initial position information of external binding according to an Ethernet chip of a network interface module or an RS422 chip of a digital interface module, a navigation resolving program is operated, navigation information such as course, attitude, speed, position and the like is obtained by a navigation computer after algorithm modules such as attitude updating, speed updating, position updating, earth parameter updating and the like, and information interaction is carried out between the Ethernet chip of the network interface module and the RS422 chip of the digital interface module and an information exchange unit according to external requirements.
Although the present invention has been described in connection with the preferred embodiments, the embodiments are not intended to limit the present invention. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. The scope of protection of the invention should therefore be determined with reference to the claims that follow.
Claims (8)
1. A navigation computer for an inertial navigation system, the navigation system comprises an inertial measurement unit, an information exchange unit and the navigation computer, and is characterized in that the navigation computer comprises a processing module, a digital isolation module, a temperature measurement module, a register module, a memory module and a storage module; and further comprising at least one of a digital interface module and a network interface module;
the processing module is a ZYNQ extensible processing platform, and the ZYNQ extensible processing platform comprises a programmable logic unit and a dual-core processing system; the dual-core processing system comprises a core 0 and a core 1;
the digital isolation module is an isolation chip, the input end of the digital isolation module is connected with the inertial measurement unit, and the output end of the digital isolation module is connected with the processing module and is used for acquiring navigation parameter data in the inertial measurement unit and inputting the navigation parameter data into the processing module;
the temperature measurement module is a temperature measurement chip, the input end of the temperature measurement module is connected with the inertia measurement unit, and the output end of the temperature measurement module is connected with the processing module and is used for acquiring temperature parameter data in the inertia measurement unit and inputting the temperature parameter data into the processing module;
the registering module is a QSPI register and is connected with the processing module;
the memory module is a memory and is connected with the processing module;
the storage module is a nonvolatile memory and is connected with the processing module;
the digital interface module is an isolated transceiver, one end of the digital interface module is connected with the processing module, and the other end of the digital interface module is connected with the information exchange unit and is used for data interaction between the processing module and the information exchange unit;
the network interface module is an Ethernet chip, one end of the network interface module is connected with the processing module, and the other end of the network interface module is connected with the information exchange unit and used for data interaction between the processing module and the information exchange unit.
2. The navigation computer of claim 1, wherein the inertial measurement unit comprises a gyroscope and an accelerometer having RTD thermal resistors; the temperature measurement module is a temperature measurement chip LTC2983, and the input end of the temperature measurement chip is respectively connected with RTD thermal resistors inside the gyroscope and the accelerometer.
3. The navigation computer of claim 2, wherein the digital isolation module is a six-channel isolation chip ADuM 7640; the isolation chip is used for acquiring the pulse data signals of the gyroscope and the accelerometer.
4. The navigation computer of claim 1, wherein the memory module comprises two identical pieces of DDR3 memory, and the two pieces of DDR3 memory are respectively connected to the core 0 and the core 1.
5. The navigation computer of claim 1, wherein the digital interface is an isolated transceiver ADM2582, and the isolated transceiver is used for ensuring isolation of the navigation computer from external signals and avoiding crosstalk of external interference signals into the navigation computer.
6. The navigation computer of claim 4, wherein the network interface module is an 88E1512 gigabit ethernet transceiver configured to form an adaptive gigabit ethernet interface with the ZYNQ scalable processing platform.
7. The navigation computer of claim 1, comprising a clock module coupled to the processing module to provide a clock signal to the processing module.
8. The navigation computer of claim 7, comprising a power management module, wherein the power management module is connected to the processing module, the clock module, and the temperature measurement module, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023215694.0U CN214470910U (en) | 2020-12-28 | 2020-12-28 | Navigation computer for inertial navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023215694.0U CN214470910U (en) | 2020-12-28 | 2020-12-28 | Navigation computer for inertial navigation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214470910U true CN214470910U (en) | 2021-10-22 |
Family
ID=78195236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023215694.0U Active CN214470910U (en) | 2020-12-28 | 2020-12-28 | Navigation computer for inertial navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214470910U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096283A (en) * | 2022-08-25 | 2022-09-23 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonance gyroscope inertial navigation system and design method thereof |
-
2020
- 2020-12-28 CN CN202023215694.0U patent/CN214470910U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115096283A (en) * | 2022-08-25 | 2022-09-23 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonance gyroscope inertial navigation system and design method thereof |
| CN115096283B (en) * | 2022-08-25 | 2022-11-04 | 中国船舶重工集团公司第七0七研究所 | Hemispherical resonant gyroscope inertial navigation system and design method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102128624B (en) | High dynamic strapdown inertial navigation parallel computing device | |
| CN109931932A (en) | A kind of high-precise synchronization integrated navigation computer | |
| CN106547237B (en) | A kind of navigation calculation device based on heterogeneous polynuclear framework | |
| CN103323008A (en) | Fiber-optic gyroscope strapdown inertial navigation computer based on DSP (Digital Signal Processor) and navigation calculating method thereof | |
| CN103279058A (en) | Optical fiber IMU (inertial measurement unit) data collecting system for unmanned aerial vehicle electric power routing inspection | |
| CN103116175A (en) | Embedded type navigation information processor based on DSP (digital signal processor) and FPGA (field programmable gata array) | |
| CN214470910U (en) | Navigation computer for inertial navigation system | |
| CN102135430A (en) | Strapdown attitude and heading reference system (AHRS) based on fiber optic gyro (FOG) | |
| CN102736591A (en) | Distributed POS (Position and Orientation System) sub-IMU (Inertial Measurement Unit) synchronous data acquisition system | |
| CN113254377B (en) | Task management computer for unmanned aerial vehicle | |
| CN103868513A (en) | Data processing computer system for distributed POS (point of sale) | |
| CN111891398B (en) | Elastic universal intelligent satellite hardware system architecture | |
| CN107014381A (en) | PLD, DSP, integrated navigation system, data processing method and device | |
| CN106527461A (en) | Flight control system based on dual-core processor | |
| CN104866444A (en) | Data storage computer system for distributed POS | |
| CN103196447A (en) | Batch MEMS (micro-electromechanical system) sensor based inertial measurement unit and gesture-position information acquisition method | |
| CN206133249U (en) | Coil control system a little based on DSP and FPGA | |
| CN201600142U (en) | Strap-down attitude heading reference system | |
| CN113225149B (en) | Distributed micro-satellite micro-vibration signal acquisition system and application method thereof | |
| CN111638665B (en) | Dynamic data acquisition system and method | |
| CN109443362A (en) | Navigational computer based on DSP and FPGA | |
| Vinoj et al. | Design of a Dual Processor Based Single Board GNSS Receiver Embedded Navigation Computer for Low Cost Launch Vehicles | |
| CN110442542B (en) | Rocket-borne computer | |
| CN206115220U (en) | Transaction information processing system based on FPGA | |
| CN212905484U (en) | Six-axis optical fiber inertial navigation redundancy device for unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |