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

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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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slide1

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”
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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