基于FPGA_ARM的车载导航系统设计与实现

Design and Implementation of Vehicle Navigation System Based on FPGA and ARM

中文关键词:  GPS/AHRS组合导航  FPGA  ARM  参数解算  SD卡数据记录  自主导航

英文关键词:GPS/AHRS integrated navigation  FPGA  ARM  parameter resolve  data recording in SD card  autonomous navigation

中文摘要:

      针对由航向参考系统(AHRS)和全球定位系统(GPS)构成的车载组合导航系统在接收多通道异步收发器(UART)的数据帧时容易被截断或丢失问题，设计了一种基于FPGA和ARM处理器的车载导航系统。采用FPGA实现系统各单元间逻辑控制、UART数据接收、参数解算和SD卡存储设计，ARM处理器更关注于参数融合估计和导航计算。从而降低了数据接收和参数解算的时间延迟，使得导航系统在执行参数估计和导航控制的同时，完成了多通道异步串口实时接收、解算和存储任务。车载实验表明，该系统能够完成车辆自主导航，提高了导航精度。

英文摘要:

      As to the issues of data frame loss and truncation on multi channel universal asynchronous receiver transmitter (UART) in integrated navigation system，which is composed of attitude heading reference system (AHRS) and global positioning system (GPS),a vehicle navigation system based on FPGA and ARM processor is designed，where FPGA is utilized to coordinate each logic modules，expand UART for GPS and AHRS，resolve navigation information and save specify data to SD card，which reduces the delay time in data receive and resolve.And ARM is devoted further to parameters estimation and navigation algorithms.Thus the navigation system can implement multiple UART to receive，resolve data frame and save data when ARM executing parameter estimation and navigation algorithms.The experiment results show that this integrated navigation can autonomous control and improve the navigation accuracy.