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INS/GPS Integration Based Navigation using Particle Filter GPS Control System characterization presentation. Performed by: Yuval Yosef Adi Weissman Supervised by: Mony Orbach. spring 2009. Main Project Goals. Combine advantages of INS and GPS in order to improve navigation products
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INS/GPS Integration Based Navigation using Particle FilterGPS Control Systemcharacterization presentation Performed by: Yuval Yosef AdiWeissman Supervised by: MonyOrbach spring2009
Main Project Goals • Combine advantages of INS and GPS in order to improve navigation products • Implementing above by using Particle Filter
Particle Filter main steps • Filter Initialization • Particle Propagation • Particle Update • State Estimation • Calculation • Computation • Resampling • Regularization • Weight Recomputing
Particle Update- Algorithm • Receive Data from GPS every 1 second • For each particle, when GPS data received: • Calculate distance to satellite according satellite & particle position (considering GPS’ clock drift) • Calculate probability function of particle position • Update particle weight • Normalize particle weight (“bottle Neck”)
Calculation- Algorithm • Necessary in order to prevent particle degeneration • Estimation of using particles’ weights • if continue to next step ( computation) • else, return to “Particle Propagation”
Project Constraints • GPS data arrive every 1 second • Parallel computation design (when possible)-using “Pipeline” • Use multiple pipelines in order to achieve real time results • “bottle Neck”- Normalization of particle weight (we must know all particles’ weights before normalization)
