为了提高导航精度,设计了以DSP+单片机双处理器为核心的MIMU/GPS组合导航微处理器系统,采用单片机+双口RAM采集GPS数据并缓存,DSP对数据并行读取,既节约了CPU时间,又实现了对IMU的高采样率;采用TL16C550A与MAX232和主机异步串行通信,来实现DSP和上位机的高速通信,并对数据实时显示;整个系统采用CPLD为时序控制,并利用1PPS脉冲和CPLD时钟分频实现M1MU和GPS数据的同步采集.本系统在中北大学周边路段进行跑车实验,以5K的采样率对惯性测量单元采样,同时能够完成周期内的导航解算,避免了申口通信带来的CPU时间等待;同时系统以1PPS为时间基准触发DSP中断能够保证数据采集和读取的实时性.通过实验验证,本系统具有高采样率,实时性好的优点,为组合导航系统的研究提供硬件平台,在实际的工程应用中具有一定的参考价值.%In order to increase the accuracy of navigation, design MIMU / GPS integrated navigation micro-processor system using DSP + MCU dual-processor as the core. SCM ＋ dual-port RAM were used to collect GPS data and save the pretreatment data in dual- port static RAM. DSP reads the data in parallel, which does not only save CPU time, but also achieves IMUs high sampling rate; TL16C550A and MAX232 were used to implement the asynchronous serial communication with the host, to achieve high-speed communication between DSP and the host computer, as well as the real-time data display; CPLD was used as the timing control of the entire system, and 1PPS pulse and CPLD clock frequency were used to achieve synchronization data collection of MIMU and GPS. Racing car experiments were done around North University of China. The freguency of collection of IMU is 5K and this system can finish cycle navigation solution to avoid waiting time of CPU taken by serial port commutation. At the same time the system uses 1PPS as time reference trigger to interrupt to assure the real- time of data collection and read. This system experiments validate that this system has a high sampling rate, the advantage of good real -time, which provides hardware platform for the integrated navigation system, and has certain reference value in practical engineering applications.
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