微小型组合导航系统软硬件协同设计  

Co—design of Software and Hardware for Microminiature Integrated Navigation System

作　　者：周鹏飞[1] 唐康华[1] 吴美平[1] 罗兵[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073

出　　处：《计算机测量与控制》2015年第12期4110-4113,共4页Computer Measurement &Control

基　　金：国家自然科学基金资助项目(61104201)

摘　　要：针对机载制导武器对组合导航系统小体积、低功耗、高实时性以及高可靠性的要求,设计了组合导航系统双CPU总体方案;基于Zynq全可定制平台搭建了组合导航系统硬件环境;在分析组合导航系统软件结构的基础上,对任务块、任务优先级以及任务间的同步机制进行了合理设计;同时基于对组合导航滤波器内数据交换的分析,通过设置消息队列实现了任务间通信,且在保证数据一致性的同时,避免了"死锁"问题的出现;实验结果表明:系统各功能模块运行正常,导航结果满足正常定位需求。According to the high requirements that airborne guided weapons have on small size , low power dissipation , real--time and reliability performance of integrated navigation system, the dual--CPU overall scheme of integrated navigation system is designed. Based on the fully customizahle Zynq platform, the hardware environment of integrated navigation system is built. Based on the analysis of software structure of integrated navigation system, the paper designs task module, task priorities and intertask synchronization mechanism reasona- bly. Based on the analysis of data exchange in integrated navigation filter, inter--task communication is realized through setting the message queue, and the problem of ＂deadlock＂ is avoided with ensuring data consistency. The results show that each function module of the system works normally, and navigation results meet the requirements of normal position.

关 键 词：组合导航系统 μC/OS-Ⅲ 多任务调度 任务间同步与通信 双CPU 

分 类 号：U666.1[交通运输工程—船舶及航道工程]