摘要
采用传统单核实现组合导航,很难保证导航数据的更新频率,造成间断性丢失导航信息;针对飞行器对导航系统可靠性和实时性的要求,利用可编程片上系统技术,采用Nios Ⅱ软核构建了非对称双核处理器系统,分别负责捷联解算与卡尔曼滤波。在此基础上对双核导航系统配置流水线桥提升系统最高频率,并集成硬件浮点定制指令加速卡尔曼滤波和捷联解算,较之采用单核的处理导航算法,速度提高了约47倍;同时,为了保证代码执行耗时的确定性,加入紧耦合存储器确保系统的可靠性。
It is difficult to guarantee the update frequency of the navigation data due to loss of navigation information intermittently when the integrated navigation system adopts single core processor traditionally. According to the requirements of reliability and realtime pro posed by aircraft for the navigation system, the SOPC technology was utilized to construct the dual core asymmetric processor based on NiosⅡ soft core, which are respectively responsible for the strapdown algorithm and Kalman filtering. On the basis of dual core navigation sys tem, the Pipeline Bridge could be configured to improve system maximum operating frequency, and compared with using single core pro cessing navigation algorithm, the floating point custom instruction can accelerate the Kalman filtering and strapdown algorithm which raised 47 times in speed. Simultaneously, tightly coupled memories ensure the reliability of the system owing to deterministic time consuming of the code execution.
出处
《计算机测量与控制》
北大核心
2013年第10期2868-2871,共4页
Computer Measurement &Control
关键词
双核处理器
流水线桥
定制指令
紧耦合存储器
dual--core processor
pipeline Bridge
custom instruction
tightly coupled memory
