GPS/INS Computing System

GPS/INS Computing System Performed by: Alexander Pavlov David Domb Supervisor: Mony Orbach Mid semester presentation Spring 2008/9

Agenda 1. General overview 2. Our Project 3. The Design 4. What’s Next… GPS/INS Computing System

General overview “Even Noah got no salary for the first six months partly on account of the weather and partly because he was learning navigation.” Mark Twain GPS/INS Computing System

Theoretical Navigation Algorithm • Developed in the “Technion” and Implements the tightly coupled INS/GPS navigation unit, with the particle filter. • The algorithm stages: GPS/INS Computing System

Project Goals GPS/INS Computing System

Our Project GPS Computing System

General Project will be performed in 2 stages. First part in this semester. Project will be performed by several work groups Our group will implement Particle Propagation and State Estimation stages in this first part. Both stages need to be performed whit in 0.01 sec, regardless of other stages performance. GPS Computing System

Group Project Goals – Part 1 GPS/INS Computing System

The Design GPS/INS Computing System

Design guidelines Constrains: • large amount of calculations • Limited hardware • real-time results Selected solution: • Combining Parallel processing whit Pipelines. GPS/INS Computing System

X data structure GPS Computing System

INS data structure W data structure GPS Computing System

Solution – Top design xN Controller Weight vector Particles propagation unit State estimation unit Estimated State Vector [1..18] Extended State Vector [1..18] Extended State Vector [1..18] Extended State Vector [1..18] GPS/INS Computing System

Controller Algorithm • While “FIFO” is NOT empty: • Every 5 clock cycles, send a new particle from the “FIFO”, into the “TOP_6_PROP” (asserting the “START” signal to ‘1’). • Keepcount of “START” signals given. • Keepcount of “FINISH” signals from the “TOP_6_PROP”. • For every “FINISH” signal, send the matching weight vector and new propagated particle to the “TOP_ESTIMATION”. GPS/INS Computing System

Particle propagation unit clock finish reset start GPS/INS Computing System

Particle propagation unit GPS/INS Computing System

Propagation timing control • Every “START” = ‘1’ : counter = counter +1 • Propagation unit i starts when: “START” = ‘1’ AND counter mod 6 = i. • “FINISH” = ‘1’ when: “finish_i” = ‘1’ for all i. GPS/INS Computing System

Particle propagation unit GPS/INS Computing System

Single particle propagation data flow GPS Computing System

Propagation flow control GPS Computing System

Estimation unit clock Estimation Ready reset New Data In GPS/INS Computing System

Estimation unit W X GPS/INS Computing System

Timing Analysis • 1 particle LATENCY – 50 clock cycles (from “start” to “finish”) of propagation and weighting (according to simulation). • Propagation stage LATENCY – 45 clocks. • Estimation stage LATENCY – 5 clocks. • With a pipeline (Throughput) of 5 clocks, and 6 parallel propagation units : • 30,000 particles in 105,050 clocks = • = 7.5 ms @ 20Mhz. GPS/INS Computing System

COMMENTS • NO sin/cos blocks: • the design uses a “DUMMY” block with a latency of 30 clocks and no throughput. • The estimation of the quaternion matrix is left to be resolved by another grope (by software). The matrix is part of the design’s output. GPS/INS Computing System

MID-Results According to the initial timing analysis, we will probably be able to meet the timing demands - “with time to spare”. GPS/INS Computing System

What’sNext… GPS/INS Computing System

Things to do • Synthesis. • Simulations and testing on the board. • Final report. GPS/INS Computing System

GANTT GPS/INS Computing System

GPS/INS Computing System