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Performed by: Yuval Yosef Adi Weissman Supervised by: Mony Orbach

INS/GPS Integration Based Navigation using Particle Filter GPS Control System MidTerm presentation. Performed by: Yuval Yosef Adi Weissman Supervised by: Mony Orbach. spring 2009. Project Goals. Combine advantages of INS and GPS in order to improve and upgrade navigation products

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Performed by: Yuval Yosef Adi Weissman Supervised by: Mony Orbach

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  1. INS/GPS Integration Based Navigation using Particle FilterGPS Control SystemMidTerm presentation Performed by: Yuval Yosef AdiWeissman Supervised by: MonyOrbach spring2009

  2. Project Goals • Combine advantages of INS and GPS in order to improve and upgrade navigation products • Implementation of the above by using a Particle Filter

  3. Our part responsibilty - Particle Update -Calculation

  4. What have we done so far? (1) • Learning the Partical Filter’s algorithm • Understanding all main steps • Deeper understanding of our steps functionality • Learning the development environment • Coding VHDL block entities using “ModelSim” • learning “HDL designer” & “Quartus” • Implementing all Block entities • For both “partical update” & “Neff calculation” • Design general architecture

  5. What have we done so far? (2) • Data size declaration • I/O data- GPS & particle parameters’ sizes were set • Internal signal widths were set • Decided on sin/cos/exp functions I/O data size

  6. Particle Update- Implementation (1) Distance calculation

  7. Particle Update- Implementation (2) Probability function

  8. Particle Update + Neff- the “big picture”

  9. Still to think about… • Cycle length is 10 mSec • Reducing (as much as we can) our computing time: • Adding more registers in pipeline (“break block”) • Multiple pipelines take into consideration hardware limitations

  10. What’s next ? • Implementation of pipeline & FSM using our VHDL entities • Combination of infrastructure functions (sin, cos, exp) • Integration • with hardware (GIDEL) • with all other teams

  11. Schedule • 1-31/10 – implementing FSM + combine trig. functions • 1-7/11 – simulation and testing (GIDEL) • 8-20/11 – integration + final presentation

  12. Thank you

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