INS/GPS Integration Based Navigation using Particle Filter GPS Control System

1. Technion - Israel institute of technology department of Electrical Engineering הטכניון - מכון טכנולוגי לישראלהפקולטה להנדסת חשמל High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות INS/GPS Integration Based Navigation using Particle FilterGPS Control System • Performed by: Yuval Yosef • AdiWeissman • Supervised by: MonyOrbach Spring 2009 1

2. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Abstract • There are many advantages integrating INS and GPS systems for navigation. • The integration is implemented using Kalman filter which is not the optimal solution. • In our project we use the Regularized Particle Filter algorithm for the implementation, which allows working in nonlinear and non gaussianconditions. • Project implementation includes two phases of RPF algorithm: measurement update & Neff calculation. 2

3. GPS data particle weight particle data High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות System description calculate particle position calculate distance to satellite calculate probability function update particle weight normalize particle weight updated weights calculation 5

4. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות re FPGA Block Diagram Particle data Convert_to_xyz dis_calc 1 dis_calc 2 GPS data dis_calc 3 prob_ func weight_ calc weight_ normalize Particle weight dis_calc 4 update weight dis_calc 5 dis_calc 6 6

5. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Algorithm description- measurement update • Receive Data from GPS every 1 second • For each particle, when GPS data received: • Convert WGS84 coordinate system to ECEF coordinate system • Calculate distance to satellite according to satellite & particle position (taking account of GPS’ clock drift) • Calculate probability function of particle position • Update particle weight • Normalize particle weight

6. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Algorithm description- Neff calculation • Necessary in order to prevent particle degeneration • Estimation of using particles weights • if continue to next step ( computation) • else, return to “Particle Propagation”

7. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Simulation MATLAB programs for simulate algorithm & reading data files • Simulate algorithm- floating-point • Simulate algorithm- fixed-point values • for assessment of hardware performance. • Chop each parameter according to its own accuracy, as implemented in VHDL.

8. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Testing HW implementationVHDL vs. fixed-point simulation

9. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Testing

10. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Testing • Mean Square Error is

11. High speed digital systems laboratory המעבדה למערכות ספרתיות מהירות Summary • Measurement update & Neff calculation phases were implemented according to updated algorithm. • Testing & simulation results are very similar. • Data path can receive new particle data each clock. • Design is robust. Any entity can be modified or replaced easily.