基于ARM9平台的嵌入式车载导航系统研究与设计
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摘要
嵌入式车载导航系统是把全球定位技术、地理信息技术、通信技术和嵌入式计算机技术综合在一起的系统,它能够实时、高速地向驾驶员提供导航定位、地理信息等服务。它的应用对改善城市交通状况、促进行车安全和提高道路通行效率有极其重要的意义。
本文针对移动式工程机械智能监控系统的要求提出了一个将导航定位技术和嵌入式Linux系统相结合,设计基于嵌入式Linux的车载导航系统的方案,在ARM9平台上移植嵌入式Linux操作系统,然后基于此平台实现车载导航系统。在整个系统中,硬件系统是基础,嵌入式Linux操作系统是软件的运行平台,它们在车载导航系统中占有重要的地位。因此本文对导航系统的硬件平台及嵌入式Linux操作系统进行了重点研究。
论文首先简要介绍了车载导航系统的基本原理及其在国内外的现状与发展前景,并描述了本文研发的主要工作;然后根据车载定位导航系统的要求设计系统架构;开发了基于ARM9(S3C2410A)的系统硬件平台,重点分析了电源、时钟、SDRAM、Flash、以太网、触摸屏、串口、USB和音频等接口电路原理并给出了设计结果;在对嵌入式Linux操作系统进行较为深入研究的基础上,详细介绍了Bootloader、Linux内核和设备驱动程序的开发过程,完成了U-Boot移植、设备驱动程序的编写和内核的编译。由于嵌入式GUI程序设计是实现良好的人机交互界面的重要途径,因此对这部分内容的研发情况也进行了相当篇幅的介绍。
本文所研发的嵌入式车载导航系统经实验室调试,结果表明基本实现了设计要求,且运行稳定可靠,具有一定的推广应用价值。
The Embedded Vehicle Vavigation System is a system well intergrated with globle position technology, geographic information technology,communication technology and embedded technology.It offers many kinds of important services,which include navigatin and geography information,timely and efficiently for a driver.Its application greatly alleviated the trouble of city transportation system and improved the efficiency of road.
Aiming at the demand of intelligent monitoring system of the construction machinery, the paper presents a method to design a Vehicle Navigation System based on the embedded Linux system,combining the GPS location technology and embedded system technology.First,we transplanted the embedded Linux system to the ARM9 platform,then realized the functions of location and navigation in this Vehicle Navigation System.In a system,hardware is the basis,and the embedded Linux operating system is the platform for software.They played the important roles in this Vehicle Navigation System.Therefore this paper focus on the study of hardware platform and embedded Linux operating system in the navigation system.
Firstly,the paper briefly introduced the fundamental of the Vehicle Navigation System and its status quo and prospect domestic or abroad,described the author's main work.Then,according to the requirements of this system,we designed the systematic solution.In accordance with the solution,we designed the hardware platform:the ARM9 (S3C2410A).Analyzed the peripheral circuits design,such as Power and Clock,SDRAM,Flash,Ethernet,TouchScreen,Serial Port,USB and Audio Interface.On the basis of the deep understanding of the embedded Linux system, we introduced the details of u-boot,device drivers and kernel.Besides,Embedded GUI is an important methord to realize the interface of human-computer interaction,this part of content is also included.
The experiments states that Embedded Vehicle Navigation System has reached the demand of design,has values of application and popularization.
本文针对移动式工程机械智能监控系统的要求提出了一个将导航定位技术和嵌入式Linux系统相结合,设计基于嵌入式Linux的车载导航系统的方案,在ARM9平台上移植嵌入式Linux操作系统,然后基于此平台实现车载导航系统。在整个系统中,硬件系统是基础,嵌入式Linux操作系统是软件的运行平台,它们在车载导航系统中占有重要的地位。因此本文对导航系统的硬件平台及嵌入式Linux操作系统进行了重点研究。
论文首先简要介绍了车载导航系统的基本原理及其在国内外的现状与发展前景,并描述了本文研发的主要工作;然后根据车载定位导航系统的要求设计系统架构;开发了基于ARM9(S3C2410A)的系统硬件平台,重点分析了电源、时钟、SDRAM、Flash、以太网、触摸屏、串口、USB和音频等接口电路原理并给出了设计结果;在对嵌入式Linux操作系统进行较为深入研究的基础上,详细介绍了Bootloader、Linux内核和设备驱动程序的开发过程,完成了U-Boot移植、设备驱动程序的编写和内核的编译。由于嵌入式GUI程序设计是实现良好的人机交互界面的重要途径,因此对这部分内容的研发情况也进行了相当篇幅的介绍。
本文所研发的嵌入式车载导航系统经实验室调试,结果表明基本实现了设计要求,且运行稳定可靠,具有一定的推广应用价值。
The Embedded Vehicle Vavigation System is a system well intergrated with globle position technology, geographic information technology,communication technology and embedded technology.It offers many kinds of important services,which include navigatin and geography information,timely and efficiently for a driver.Its application greatly alleviated the trouble of city transportation system and improved the efficiency of road.
Aiming at the demand of intelligent monitoring system of the construction machinery, the paper presents a method to design a Vehicle Navigation System based on the embedded Linux system,combining the GPS location technology and embedded system technology.First,we transplanted the embedded Linux system to the ARM9 platform,then realized the functions of location and navigation in this Vehicle Navigation System.In a system,hardware is the basis,and the embedded Linux operating system is the platform for software.They played the important roles in this Vehicle Navigation System.Therefore this paper focus on the study of hardware platform and embedded Linux operating system in the navigation system.
Firstly,the paper briefly introduced the fundamental of the Vehicle Navigation System and its status quo and prospect domestic or abroad,described the author's main work.Then,according to the requirements of this system,we designed the systematic solution.In accordance with the solution,we designed the hardware platform:the ARM9 (S3C2410A).Analyzed the peripheral circuits design,such as Power and Clock,SDRAM,Flash,Ethernet,TouchScreen,Serial Port,USB and Audio Interface.On the basis of the deep understanding of the embedded Linux system, we introduced the details of u-boot,device drivers and kernel.Besides,Embedded GUI is an important methord to realize the interface of human-computer interaction,this part of content is also included.
The experiments states that Embedded Vehicle Navigation System has reached the demand of design,has values of application and popularization.
引文
[1] 曹晓航.GPS 车载导航系统技术趋势浅析.现代测绘,2006,29(1):14-17
[2] 张其善,吴今培,杨东凯.智能车辆定位导航系统及应用.北京:科学出版社,2002:41-96
[3] 赵亦林.车辆定位与导航系统.谭国真.北京:电子工业出版社,1999:102-154
[4] 王田苗.嵌入式系统设计与实例开发.北京:清华大学出版社,2003:5-12
[5] 陈赜.ARM9 嵌入式技术及 Linux 高级实践教程.北京:北京航空航天大学出版社,2006:65-123
[6] 罗蕾.嵌入式实时操作系统及应用开发.北京:北京航空航天大学出版社,2005:158-168
[7] Eric Abbott David Powell.Land-vehicle Navigation Using GPS.Proceedings of the IEEE,1999,87(1):145-162
[8] 管素清,刘捷,冷青.嵌入式车载导航系统的设计.计算机工程与设计,2005,26(5):1320-1322
[9] 徐绍铨.GPS测量原理及应用.武汉:武汉测绘大学出版社,1998:23-86
[10] 胡伍生,高成发.GPS 测量原理及其应用.北京:人民交通出版社,2002:12-106
[11] 刘瑜,张晶.地理信息系统——原理、方法和应用.北京:科学出版社,2003:62-136
[12] 张超.地理信息系统教程.北京:高等教育出版社,2000:21-96
[13] 张强,王仁礼,陈天泽.基于Windows CE平台的嵌入式GIS开发与应用.测绘学院学报,2003,20(2):113-115
[14] 杜春雷.ARM 体系结构与编程.北京:清华大学出版,2003:7-21
[15] 陈俊宏.Embedded Linux嵌入式系统原理与实务.北京:中国铁道出版社,2004:13-26
[16] 许信顺,贾智平.嵌入式 Linux 应用编程.北京:机械工业出版社,2007:91-102
[17] 张纪坤,张小全.嵌入式 Linux 系统开发技术详解——基于 ARM.北京:人民邮电出版社,2006:352-370
[18] Yi-Bing Lin , Shun-Ren Yang.A mobility management strategy for GPRS.Wireless Communication,2003,2(6):1178-1188
[19] 深圳宏电技术开发有限公司.无线 DDN 通信系统 H7118 GPRS DTU 使用说明.深圳:深圳宏电技术开发有限公司,2004:1-4
[20] 孙名奎,王直杰,张珏.基于PDA-GPRS/GPS/GIS的移动查询监控导航警务系统的设计.测绘与空间地理信息,2005,28(5):70-73
[21] Samsung Semiconductor.S3C2410A User's Manual.Korea : Samsung Semiconductor,2004:31-66
[22] Samsung Semiconductor.K9F1208U0M-YCB0 DataSheet.Korea : Samsung Semiconductor,2006:1-41
[23] 陈鹏,张爱民,李杰.基于以太网控制器 CS8900A 实现嵌入式系统的网络互连.电子工程师,2002,(12):4-7
[24] 刘淼.嵌入式系统接口设计与 Linux 驱动程序开发.北京:北京航空航天大学出版社,2006:83-105
[25] 高建华,王殊.基于 S3C2410 型微处理器和 UDA1341 型立体声音频编解码器的嵌入式音频系统设计.国外电子元器件,2006,(6):35-37
[26] 阳旭东,马旭东.基于S 3 C 2 4 1 0的远程抄表系统集中器的设计与实现.中国仪器仪表,2006,(11):41-44
[27] 潘巨龙.ARM9 嵌入式 Linux 系统构建与应用.北京:北京航空航天大学出版社,2006:43-127
[28] Karim Yagbmour.Building Embedded Linux System.USA:O’Reilly Media, 2003:21-93
[29] 孙天泽,袁文菊,张海峰.嵌入式设计及Linux驱动开发指南——基于ARM9处理器.北京:电子工业出版社,2005:264-273
[30] Daniel Pierre Bovet,Marco Cesati.Understanding the LINUX Kernel.USA:O’Reilly Media,2002
[31] Alessandro Rubini,Jonathan Corbet.Linux Device Drivers. USA:O’Reilly Media,1998:75-79
[32] Rui Wang,Shi-Yuan Yang.The design of a rapid prototype platform for ARM based embedded system.Consumer Electronics IEEE Transactions on,2004,50(2):746-751
[33] Wookey , Tak-Shing.Porting the Linux Kernel to a New ARM Platform.Solutions Journal,2002,(4):52-59
[34] Neil Matthew,Richard Stones.Beginning Linux Programming.UK:Wrox Press,2004:566-573
[35] 刘峥嵘,张智超,许振山等.嵌入式 Linux 应用开发详解.北京:机械工业出版社,2005:250-255
[36] Daniel Pierre Bovet,Marco Cesati.Understanding the Linux Kernel.USA: O'Reilly Media,2002:27-81
[37] 金丽华,杨根兴.嵌入式车载导航系统的研究与实现.电脑开发与应用,2006,19(4):36-38
[38] 成洁,吕遵明,敖雪.基于嵌入式 Linux 的嵌入式 GIS 的设计与实现.电子工程师,2006,32(11):69-71
[39] 俞晓莹,叶继华,叶自清. 基于PDA的GPS/GIS 移动计算关键技术研究.经济地理,2004,24(5):596-599
[40] Kurt Wall,Mark Watson. Linux Programming Unleashed. USA:SAMS,2001:62-218
[41] 贾明,严世贤.Linux 下的 C 编程.北京:人民邮电出版社,2003:35-42
[42] 赵振亮,徐立鸿,邓梧鹏等.基于 Linux 系统中嵌入式 GUI 的研究与分析.微型电脑应用,2006,22(11):42-44
[43] Jasmin Blanchette,Mark Summerfield. C++ GUI Programming with QT 3. USA:Prentice Hall PTR,2004:46-129
[44] Matthias Kalle Dalheimer. Programming With Qt.USA:O’Reilly Media,2002:36-127
[45] 张小京.车载导航产品的数字地图格式.GNSS World of China,2004,(3):6-9
[46] 陈建春.矢量图形系统开发与编程.北京:电子工业出版社,2004:30-116
[47] 汪亚雷,余春暄.基于嵌入式 Linux 的 Mapinfo 格式地图显示.微计算机信息,2006,22(10-2):184-186
[48] 陆锋,程昌秀.Linux 环境下的 GIS 基础平台研发.地理信息系统,2003,01(6):12-16
[2] 张其善,吴今培,杨东凯.智能车辆定位导航系统及应用.北京:科学出版社,2002:41-96
[3] 赵亦林.车辆定位与导航系统.谭国真.北京:电子工业出版社,1999:102-154
[4] 王田苗.嵌入式系统设计与实例开发.北京:清华大学出版社,2003:5-12
[5] 陈赜.ARM9 嵌入式技术及 Linux 高级实践教程.北京:北京航空航天大学出版社,2006:65-123
[6] 罗蕾.嵌入式实时操作系统及应用开发.北京:北京航空航天大学出版社,2005:158-168
[7] Eric Abbott David Powell.Land-vehicle Navigation Using GPS.Proceedings of the IEEE,1999,87(1):145-162
[8] 管素清,刘捷,冷青.嵌入式车载导航系统的设计.计算机工程与设计,2005,26(5):1320-1322
[9] 徐绍铨.GPS测量原理及应用.武汉:武汉测绘大学出版社,1998:23-86
[10] 胡伍生,高成发.GPS 测量原理及其应用.北京:人民交通出版社,2002:12-106
[11] 刘瑜,张晶.地理信息系统——原理、方法和应用.北京:科学出版社,2003:62-136
[12] 张超.地理信息系统教程.北京:高等教育出版社,2000:21-96
[13] 张强,王仁礼,陈天泽.基于Windows CE平台的嵌入式GIS开发与应用.测绘学院学报,2003,20(2):113-115
[14] 杜春雷.ARM 体系结构与编程.北京:清华大学出版,2003:7-21
[15] 陈俊宏.Embedded Linux嵌入式系统原理与实务.北京:中国铁道出版社,2004:13-26
[16] 许信顺,贾智平.嵌入式 Linux 应用编程.北京:机械工业出版社,2007:91-102
[17] 张纪坤,张小全.嵌入式 Linux 系统开发技术详解——基于 ARM.北京:人民邮电出版社,2006:352-370
[18] Yi-Bing Lin , Shun-Ren Yang.A mobility management strategy for GPRS.Wireless Communication,2003,2(6):1178-1188
[19] 深圳宏电技术开发有限公司.无线 DDN 通信系统 H7118 GPRS DTU 使用说明.深圳:深圳宏电技术开发有限公司,2004:1-4
[20] 孙名奎,王直杰,张珏.基于PDA-GPRS/GPS/GIS的移动查询监控导航警务系统的设计.测绘与空间地理信息,2005,28(5):70-73
[21] Samsung Semiconductor.S3C2410A User's Manual.Korea : Samsung Semiconductor,2004:31-66
[22] Samsung Semiconductor.K9F1208U0M-YCB0 DataSheet.Korea : Samsung Semiconductor,2006:1-41
[23] 陈鹏,张爱民,李杰.基于以太网控制器 CS8900A 实现嵌入式系统的网络互连.电子工程师,2002,(12):4-7
[24] 刘淼.嵌入式系统接口设计与 Linux 驱动程序开发.北京:北京航空航天大学出版社,2006:83-105
[25] 高建华,王殊.基于 S3C2410 型微处理器和 UDA1341 型立体声音频编解码器的嵌入式音频系统设计.国外电子元器件,2006,(6):35-37
[26] 阳旭东,马旭东.基于S 3 C 2 4 1 0的远程抄表系统集中器的设计与实现.中国仪器仪表,2006,(11):41-44
[27] 潘巨龙.ARM9 嵌入式 Linux 系统构建与应用.北京:北京航空航天大学出版社,2006:43-127
[28] Karim Yagbmour.Building Embedded Linux System.USA:O’Reilly Media, 2003:21-93
[29] 孙天泽,袁文菊,张海峰.嵌入式设计及Linux驱动开发指南——基于ARM9处理器.北京:电子工业出版社,2005:264-273
[30] Daniel Pierre Bovet,Marco Cesati.Understanding the LINUX Kernel.USA:O’Reilly Media,2002
[31] Alessandro Rubini,Jonathan Corbet.Linux Device Drivers. USA:O’Reilly Media,1998:75-79
[32] Rui Wang,Shi-Yuan Yang.The design of a rapid prototype platform for ARM based embedded system.Consumer Electronics IEEE Transactions on,2004,50(2):746-751
[33] Wookey , Tak-Shing.Porting the Linux Kernel to a New ARM Platform.Solutions Journal,2002,(4):52-59
[34] Neil Matthew,Richard Stones.Beginning Linux Programming.UK:Wrox Press,2004:566-573
[35] 刘峥嵘,张智超,许振山等.嵌入式 Linux 应用开发详解.北京:机械工业出版社,2005:250-255
[36] Daniel Pierre Bovet,Marco Cesati.Understanding the Linux Kernel.USA: O'Reilly Media,2002:27-81
[37] 金丽华,杨根兴.嵌入式车载导航系统的研究与实现.电脑开发与应用,2006,19(4):36-38
[38] 成洁,吕遵明,敖雪.基于嵌入式 Linux 的嵌入式 GIS 的设计与实现.电子工程师,2006,32(11):69-71
[39] 俞晓莹,叶继华,叶自清. 基于PDA的GPS/GIS 移动计算关键技术研究.经济地理,2004,24(5):596-599
[40] Kurt Wall,Mark Watson. Linux Programming Unleashed. USA:SAMS,2001:62-218
[41] 贾明,严世贤.Linux 下的 C 编程.北京:人民邮电出版社,2003:35-42
[42] 赵振亮,徐立鸿,邓梧鹏等.基于 Linux 系统中嵌入式 GUI 的研究与分析.微型电脑应用,2006,22(11):42-44
[43] Jasmin Blanchette,Mark Summerfield. C++ GUI Programming with QT 3. USA:Prentice Hall PTR,2004:46-129
[44] Matthias Kalle Dalheimer. Programming With Qt.USA:O’Reilly Media,2002:36-127
[45] 张小京.车载导航产品的数字地图格式.GNSS World of China,2004,(3):6-9
[46] 陈建春.矢量图形系统开发与编程.北京:电子工业出版社,2004:30-116
[47] 汪亚雷,余春暄.基于嵌入式 Linux 的 Mapinfo 格式地图显示.微计算机信息,2006,22(10-2):184-186
[48] 陆锋,程昌秀.Linux 环境下的 GIS 基础平台研发.地理信息系统,2003,01(6):12-16