System Purpose
This FPGA firmware implements a complete Navigation and Solar Position subsystem for an AESA radar platform. It integrates three independent sensor pipelines into a unified data bus:
Pipeline Sensor Interface Primary Output
GNSS u-blox ZED-F9P SPI (UBX protocol) Position, velocity, UTC time, PPS
IMU Xsens MTi-630 CAN 2.0B 1 Mbit/s Attitude, inertial data, SDI, HR data
SPA Computed Internal Solar azimuth, elevation, zenith
The system also provides:
GPS-disciplined 1 Hz PPS output with IEEE 802.1AS / TSN timestamping
Full NREL Solar Position Algorithm (SPA) including sunrise/sunset/transit/EoT
Target device: Xilinx UltraScale KU040, 200 MHz clock.
Ahmed-Nabit
/
Solar-Navigation-FPGA
Multi-Sensor Fusion Core with NREL SPA Compliance utilizing IMU Sensor MTi630 - Ublox GNSS Transceiver
Author: Ahmed Nabit Contact: Email Repository: Github License: Apache License 2.0 Zenodo: Zenodo
Navigation FPGA -- Technical and Configuration Manual
Table of Contents
- System Purpose
- Architecture Overview
- Fixed-Point Format Reference
- File Structure
-
fusion_top -- Complete Entity Reference
- 5.1 Generics
- 5.2 Input Ports
- 5.3 Output Ports
-
Sub-Module Reference
- 6.1 ublox_spi_master
- 6.2 ubx_framer
- 6.3 ubx_parser
- 6.4 gps_register_bank
- 6.5 pps_sync
- 6.6 can_phy_if
- 6.7 can_controller_core
- 6.8 mti_can_parser
- 6.9 mti_register_bank
- 6.10 spa_core_complete
- 6.11 Fixed-Point Math Engine
- Data Bus Record Types
- MTi-630 CAN Message Reference
- GNSS UBX Message Reference
- SPA Pipeline Stages
-
Configuration Guide
- 11.1 Clock and SPI
- 11.2 CAN Bus Timing
- 11.3 GNSS Configuration
- 11.4 Position Override
- 11.5 Leap Second Management
- 11.6 Delta-T Override
- 11.7 MTi CAN ID Override
- Internal Signal Flow
- TSN / IEEE 802.1AS Integration
- AESA Radar Integration Notes
- Resource Estimates
- Q32.32 Encoding Worked Examples
-
System Operation and Integration Guide
- 17.1 Startup and Initialization Sequence
- 17.2 Automation Monitor Behaviors
- 17.3 Instantiation Template
- 17.4…
