可扩展地面无人平台综合处理模块硬件设计  

Hardware Design of Integrated Processing Module for Expandable Unmanned Ground Vehicle

作　　者：刘舒阳 韩相博 谢时根 LIU Shu-yang;HAN Xiang-bo;XIE Shi-gen(Beijing Huake Haixun Technology Co.,Ltd.,Beijing 100012,China;China North Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]北京华科海讯科技有限公司,北京100012 [2]中国北方车辆研究所,北京100072

出　　处：《测控技术》2021年第9期65-70,89,共7页Measurement & Control Technology

摘　　要：小型轻量的地面无人平台应用越来越广泛,综合处理模块作为地面无人平台的指挥控制中心,承担着信息采集、数据处理及融合等核心功能。设计高性能可扩展的综合处理模块是未来地面无人平台的重要发展方向。以多源信息融合处理理论模型为基础,设计了一种以PowerPC为主处理器,FPGA为协处理器的综合处理模块系统架构。PowerPC主处理器主要完成数据处理、数据融合以及与各接口控制器的信息交互。FPGA协处理器主要实现接口控制器的扩展、信息采集和预处理。实际测试表明,综合处理模块在计算性能和通信性能方面优于原有系统。综合处理模块的硬件设计和多源信息融合处理理论模型的描述对地面无人平台的整体设计具有重要意义。Small and light-weight unmanned ground vehicle is more and more widely used.As the command and control center of the unmanned ground vehicle,the integrated processing module undertakes the core functions of information collection,data processing and fusion.The design of high performance and expandable integrated processing module is an important development direction of future unmanned ground vehicle.Based on the theoretical model of multi-source information fusion processing,the system architecture of the integrated processing module with PowerPC as the main processor and FPGA as the coprocessor is designed.The main processor PowerPC mainly completes data processing,data fusion and information interaction with each interface controller.FPGA coprocessor mainly implements the expansion of interface controller,information collection and preprocessing.The actual test indicates that the calculation ability and communication ability of the integrated processing module are better than former system.The hardware design of the integrated processing module and the description of the theoretical model of multi-source information fusion processing will be significant to the overall design of the unmanned ground vehicle.

关 键 词：地面无人平台 综合处理模块 接口控制器 扩展性 信息处理 

分 类 号：TJ06[兵器科学与技术—兵器发射理论与技术]