РЕАЛИЗАЦИЯ РАСПРЕДЕЛЕННЫХ ВЫЧИСЛЕНИЙ НА ОТЕЧЕСТВЕННЫХ МИКРОПРОЦЕССОРНЫХ УСТРОЙСТВАХ

Abstract

The aim of the work is to create a productive computing device for a strapdown inertial navigationsystem (SINS) of a ground-based robotic complex (RTC) on a domestic element base.A formal description of the typical sufficient functions performed by SINS is given and the basicprinciples of the algorithms are described from the point of view of the requirements for computingresources. A description of domestic microcontrollers available on the market and a comparison withthe closest foreign analogue are given. The results of the prototyping carried out showed the fundamentalpossibility, but the low prospects of creating computing devices on a single microcontroller.In this regard, technical proposals were developed and implemented to increase the computing powerby means of building the architecture of a multiprocessor computer. As a result, it was necessaryto develop special approaches to the design of algorithms and software. The organization of distributedcomputing is one of the most optimal methods for ensuring the calculation of functioning algorithms.The introduction of additional microprocessors into the calculator circuit made it possible notonly to increase the computing power, but also to introduce additional interfaces for interaction withboth the consumer and primary information sensors. The proposed variant of the distribution of SINSoperation algorithms made it possible to create a reserve for the development prospects and systemscalability. The most resource-intensive algorithm is the calculation of inertial coordinates, implementedas an iterative calculation for determining the latitude component of the location. Also, theperformance margin may allow the implementation of additional adaptive algorithms for filteringand processing data based on the results of testing and operation of a ground moving object.The choice of on-board exchange interface between controllers is substantiated and its practicalapplication is described. The creation of a closed loop of information exchange made it possible toimplement additional parallel calculations of secondary information and to calculate an autonomousreckoning of the object's location coordinates. The described technical solutions can be used in thedesign of embedded calculators for objects for various purposes operating on the basis of hard logic.As the main drawback of the presented approach to designing a calculator, one can designate a limitedfunctionality when working with ROMs.