中文摘要：

为了满足SINS／GPS组合导航系统的小型化、低功耗、低成本等条件，以及越来越高的精度要求，设计了基于双DSP和FPGA构成的嵌入式导航计算机分布式系统。该系统由TI公司TMS320C6701型和TMS320VC33型DSP芯片作为核心处理器，主要完成导航计算和在线滤波校正算法；由FPGA实现输入输出等外围接口，完成对IMU信号的采集控制和缓存、多串行口的扩展等功能。DSP通过外部存储器接口（EMIF）实现与FPGA的通信，可以一次以DMA（Direct Memory Access）的方式从FPGA中FIFO快速读取IMU以及GPS的数据，使得DSP能专注于导航计算；另外，导航计算和在线滤波校正任务在不同的DSP中完成，能有效提高系统的精度，更好地满足系统实时性要求。

英文摘要：

To meet the requirements of SINS/GPS integrated navigation system, a distributed embedded navigation computer system based on dual DSPs and FPGA was designed. In the system, the navigation algorithm and the error-correcting algorithm was mainly executed in the core of DSP chips TMS320C6701 and TMS320VC33 which are produced by TI. And the I/O interface function was realized by FPGA which performed the IMU signal acquisition, buffering data and expanding multi-UART. The communication between DSP and FPGA was achieved by DSP＇s External Memory Interface（EMIF）. In this way, the data of IMU and GPS could be read fleetly from the FIFO of FPGA by Direct Memory Access（DMA）, so that DSPs could be devoted in navigation algorithm. In addition, the two algorithms were executed in respective DSP. So the distributed system scheme can improve the precision of the system effectively, and enhance the real-time performance of the system.