【作者】 田炜；

【导师】 袁赣南；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2004， 硕士

【摘要】 以电子计算机为中心，以最佳统计理论为方法，将载体上的某些或全部的导航设备综合在一起，形成一个有机的统一整体，提高导航信息精度，扩大单一导航设备或系统的功能，这样的系统通称为综合导航系统(Integrated nayigation system)。 本文以综合导航系统为工程背景，简要地介绍了综合导航系统的发展过程、现状及其特点。结合综合导航系统的特点和实时操作系统的特性，对我校研制的某型综合导航显控台进行了系统平台的升级和软件功能的扩展，实现了基于VxWorks5.4和WindML的综合导航显控台软件。该方案充分利用了先进的计算机软件技术，提高了综合导航系统的整体性能。 本文对嵌入式系统软件开发技术作了详细而深入的研究，介绍了嵌入式系统的组成原理及特点，深入研究了实时操作系统VxWorks及其应用程序开发环境Tornado，包括Tornado的体系结构及交互开发模式、中间图形层UGL和多媒体库WindML、VxWorks的网络通信设计原理及方法，成功地实现了VxWorks下网络通信的冗余备份，提高了数据交换的可靠性，并实现了基于双通道SDC模块的平台罗经数据的粗精组合算法，提高了综合导航系统航向和姿态信息的提取精度。更多还原

【Abstract】 Based on optimize estimate methods and centered on electronic computer, a system which combined some or whole navigation equipments on carrier into one organic system was called integrated navigation system(INS).This kind of integration method can enhance the precision of navigation data and extend the functions of single equipment or sub system.Taking integrated navigation system as the background, this paper introduces the phylogeny, actual status and character of INS, and update the system software’s OS platform and extend the functions of the application aiming at the INS been developing in our school. Based on VxWorks 5.4 OS and WindML, a set of new INS display console is realized. Taking advantage of advanced software techniques, this method enhances the whole performance of integrated navigation system.The embedded system software development technique, include the constitution principles and characters of RTOS is introduced detailedly. Vx Works and it’s integrated development environment include the cross development mode and architecture of Tornado, middle graphics layer UGL and multimedia library WindML, the principle and design methods of network communication under Vx Works are carefully discussed. Redundancy backup communication of network under VxWorks is successfully solved, which enhanced the reliability of data exchange. And the arithmetic(combination of rough and fine)of platform compass data which based on two channel SDC module is realized, which improved the reading precision of INS’s heading ,roll and pitch data.更多还原