Debugging arbitrary ARM binary image using IDA and QEMU

Question

i'm new to this and still learning a lot. Now i have managed to download the binary image from an Flash memory out of a unit having an OMAP5912 SoC. The SoC has an ARM9 family CPU core running little endian ARM code. For now i could disassemble it using IDA Pro, but some things need to be checked at runtime. Therefore i was looking for a way to execute instructions step-by-step, watching the registers, set breakpoints and such. My binary has no symbols inside. Is is possible to let QEMU emulate the CPU using "qemu-sytem-arm" and connect this to IDA Pro debugger? If so, please help me in that, because i'm new to debugging.