INS/GPS Integration Based Navigation using Particle Filter
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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
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
Particle Filter main steps

  • Filter Initialization

  • Particle Propagation

  • Particle Update

  • State Estimation

  • Calculation

  • Computation

  • Resampling

  • Regularization

  • Weight Recomputing


Particle update algorithm
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
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”




Implementation pipeline
Implementation(pipeline)


Project constraints
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)




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