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GPS-INS resampling VERIFICATION

GPS-INS resampling VERIFICATION. Final Presentation Annual project (Part B) Winter semester תש"ע ( (2009. Students: Oren Hyatt, Alex Dutov Supervisor: Mony Orbach. Abstract.

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GPS-INS resampling VERIFICATION

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  1. GPS-INSresampling VERIFICATION Final PresentationAnnual project (Part B)Winter semesterתש"ע ((2009 Students: Oren Hyatt, Alex Dutov Supervisor: MonyOrbach

  2. Abstract • A GPS system isn’t fast enough, to meet updating requirements of high speed systems. The algorithm using GPS/INS system, coupled with an integrated particles filter, for error estimation, was developed by Prof. Yaakov Oshman and Mark Koifman, from the Aeronautics faculty of the Technion. • Part A of this project, deals with the implementation the resampling and regularization units, the algorithm uses. Those parts, were defined as a possible “bottle neck”, in terms of time constraints. • In this part (part B), the resampling was brought and verified using the Generic environment.

  3. Project’s goal • Learning the complete system protocol and using it to work with Generic. • Resampling’s verification using Generic Environment. • Time requirements checking. • HW resources requirements checking.

  4. Resampling W[0.0.28] Index_out[0.16.0] Reject insignificant particles. Duplicate remained particles, with respect to their relative weight.* Format’s Notation: X.YY.ZZZ ~ sign ; number ; fraction *see part A for more info

  5. Generic • Generic Program is a testbench for GPS-INS system. • Provides input vectors and stores the results in .BIN file. • Allows to test all parts of the algorithm in different points of time. • Uses the same protocol for all parts of the algorithm.

  6. Testing environment • IC1 – vhd that was created by ProcWizard for Frame1 and its .bdf file is used by Generic Program. • Frame1 – System main controler. • Generic – a testbench unit. • Resampling – our unit. IC1 Frame1 Generic Resampling

  7. Test results (Generic vsMatlab) T=201 Number of indexes misplaced: 829

  8. Summary • All the input vectors were successfully tested. • Error source were found (no HW bug, but accuracy difference between Generic and Matlab). • HW resources slightly increased (we still can manage it). • Because of a new controller and the Generic protocol frequency has been reduced (10 times), but it still meet real-time requirement.

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