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GPS/INS Computing System

GPS/INS Computing System. Performed by: Alexander Pavlov David Domb Supervisor: Mony Orbach. Final presentation Spring 2008/9. Agenda. 1. General overview. 2. Our Project. 3. The Design. 4. Results. 5. Summary. General overview.

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GPS/INS Computing System

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  1. GPS/INS Computing System Performed by: Alexander Pavlov David Domb Supervisor: Mony Orbach Final presentation Spring 2008/9

  2. Agenda 1. General overview 2. Our Project 3. The Design 4. Results 5. Summary GPS/INS Computing System

  3. General overview “Even Noah got no salary for the first six months partly on account of the weather and partly because he was learning navigation.” Mark Twain GPS/INS Computing System

  4. Theoretical Navigation Algorithm • Developed in the “Technion” and Implements the tightly coupled INS/GPS navigation unit, with the particle filter. • The algorithm stages: GPS/INS Computing System

  5. Project Goals GPS/INS Computing System

  6. Our Project GPS Computing System

  7. General Our goal was to implement Particle Propagation and State Estimation stages. Both stages were required to function within 0.01 sec. GPS Computing System

  8. Group Project Goals GPS/INS Computing System

  9. The Design GPS/INS Computing System

  10. Solution – Top design xN Controller Weight vector Particles propagation unit State estimation unit Estimated State Vector [1..18] Extended State Vector [1..18] Extended State Vector [1..18] Extended State Vector [1..18] GPS/INS Computing System

  11. Basic architecture Finished Start Basic Streaming Block Control Write request Full Data in InputPath Empty OutputPath Read request Data out • 24Bit words data bus. • FIFO-Like streaming interfaces ( Request + Empty / Full ) • Controlled By Start/Finished activation mechanism

  12. Particle propagation unit Particle Propagation Unit clock finish reset start X[0..439] X_OUT[0..439] INS[0..287] GPS/INS Computing System

  13. Particle propagation unit Propagation Unit 1 MUX (6 to 1) Propagation Unit 2 Propagation timing control Propagation Unit 6 GPS/INS Computing System

  14. Single particle propagation data flow Propagation flow control GPS Computing System

  15. Estimation unit Estimation Unit clock Estimation_Ready reset New_Data_In X[0..439] ESTIMATED_DATA [0..439] W[0..23] GPS/INS Computing System

  16. Estimation unit × X Σ Estimated Data W GPS/INS Computing System

  17. RESULTS GPS Computing System

  18. Physical implementation • Physical implementation of entire design was unsuccessful due to lack of FPGA resources. • Therefore, only 1 of the 6 parallel “propagation unit” blocks was implemented. GPS/INS Computing System

  19. Resources utilization Base + Our design (Without trig Logic) Base + Full design (Including trig Logic) Base design (Without our Logic) GPS/INS Computing System

  20. Resources analysis • A design with 6 prop units will need approximately: • 130K combinational ALUTs (85K available). • 162K logic registers (85.2K available). • 20M block memory bits (8.25M available). • 4074 DSP blocks (896 available). • Possible FPGAs: • Xilinx – Virtex6 / 7. • Altera – Stratix 5 (possible). GPS/INS Computing System

  21. Timing Analysis • The implemented design of 1 prop unit produced: • Particle LATENCY – 97 clock cycles (from “start” to “finish”) @100MHz = 1uSec: GPS/INS Computing System

  22. Timing Analysis • The implemented design of 1 prop unit produced: • Throughput of 38 clock cycles (from “finish” to “finish”) @100MHz = 380nSec GPS/INS Computing System

  23. Timing Analysis • The total time with the implemented design of 1 prop unit produced was 30,000 particles in 1,140,059 100MHz clocks = 11.4mSec. • Note that the clock frequency of 100MHz was changed from the original plan of 30MHz, due to working with only one prop unit. GPS/INS Computing System

  24. Accuracy results • We have encountered many problems while trying to test our results: • The “Generic program” for 1 FPGA did not work correctly – we were unable to control the inputs to the design. • The “Generic program” for 4 FPGAs did not work as anticipated with the SW data files: • The SW data input files were arranged not according to the “bits order” agreed upon. • The program’s data output files did not reflect the output values from our design correctly. GPS/INS Computing System

  25. Accuracy results • We have made a manualaccuracy check for one particle, by comparing the result as viewed with the “signal tap” tool to the SW result. • For the tested particle, we got a location result which was different from the SW result by 0.0002%: GPS/INS Computing System

  26. GPS Computing System

  27. Group’s goals achievement   • Implementation of our design: • PARTIAL - due to lack of FPGA resources. • Design testing and integration: • PARTIAL - due to problems with the testing environments and no cooperation from other design teams (which finished their project). GPS/INS Computing System

  28. Our conclusion • In terms of possibility – it seems that it is possible to implement the “Propagation” and “Estimation” stages of the project, within the necessary timing requirements, on a better, more powerful FPGA (without changing the design) • For integration with other projects, it is important to have the project’s teams present. Otherwise, it can’t be done efficiently. GPS/INS Computing System

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