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GPS/INS Computing System. Performed by: Alexander Pavlov David Domb Supervisor: Mony Orbach. Mid semester presentation Spring 2008/9. Agenda. 1. General overview. 2. Our Project. 3. The Design. 4. What’s Next…. General overview.

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gps ins computing system

GPS/INS Computing System

Performed by:

Alexander Pavlov David Domb

Supervisor:

Mony Orbach

Mid semester presentation

Spring 2008/9

agenda
Agenda

1. General overview

2. Our Project

3. The Design

4. What’s Next…

GPS/INS Computing System

general overview

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

theoretical navigation algorithm
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

project goals
Project Goals

GPS/INS Computing System

slide6

Our Project

GPS Computing System

general
General

Project will be performed in 2 stages. First part in this semester.

Project will be performed by several work groups

Our group will implement Particle Propagation and State Estimation stages in this first part.

Both stages need to be performed whit in 0.01 sec, regardless of other stages performance.

GPS Computing System

group project goals part 1
Group Project Goals – Part 1

GPS/INS Computing System

slide9

The

Design

GPS/INS Computing System

design guidelines
Design guidelines

Constrains:

  • large amount of calculations
  • Limited hardware
  • real-time results

Selected solution:

  • Combining Parallel processing whit Pipelines.

GPS/INS Computing System

x data structure
X data structure

GPS Computing System

ins data structure
INS data structure

W data structure

GPS Computing System

solution top design
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

controller algorithm
Controller Algorithm
  • While “FIFO” is NOT empty:
    • Every 5 clock cycles, send a new particle from the “FIFO”, into the “TOP_6_PROP” (asserting the “START” signal to ‘1’).
  • Keepcount of “START” signals given.
  • Keepcount of “FINISH” signals from the “TOP_6_PROP”.
  • For every “FINISH” signal, send the matching weight vector and new propagated particle to the “TOP_ESTIMATION”.

GPS/INS Computing System

solution top design1
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

particle propagation unit
Particle propagation unit

clock

finish

reset

start

GPS/INS Computing System

particle propagation unit1
Particle propagation unit

GPS/INS Computing System

propagation timing control
Propagation timing control
  • Every “START” = ‘1’ :

counter = counter +1

  • Propagation unit i starts when:

“START” = ‘1’

AND

counter mod 6 = i.

  • “FINISH” = ‘1’ when:

“finish_i” = ‘1’ for all i.

GPS/INS Computing System

particle propagation unit2
Particle propagation unit

GPS/INS Computing System

propagation flow control
Propagation flow control

GPS Computing System

solution top design2
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

estimation unit
Estimation unit

clock

Estimation Ready

reset

New Data In

GPS/INS Computing System

estimation unit1
Estimation unit

W

X

GPS/INS Computing System

timing analysis
Timing Analysis
  • 1 particle LATENCY – 50 clock cycles (from “start” to “finish”) of propagation and weighting (according to simulation).
  • Propagation stage LATENCY – 45 clocks.
  • Estimation stage LATENCY – 5 clocks.
  • With a pipeline (Throughput) of 5 clocks, and 6 parallel propagation units :
  • 30,000 particles in 105,050 clocks =
  • = 7.5 ms @ 20Mhz.

GPS/INS Computing System

comments
COMMENTS
  • NO sin/cos blocks:
  • the design uses a “DUMMY” block with a latency of 30 clocks and no throughput.
  • The estimation of the quaternion matrix is left to be resolved by another grope (by software). The matrix is part of the design’s output.

GPS/INS Computing System

mid results
MID-Results  

According to the initial timing analysis, we will probably be able to meet the timing demands - “with time to spare”.

GPS/INS Computing System

what s next
What’sNext…

GPS/INS Computing System

things to do
Things to do
  • Synthesis.
  • Simulations and testing on the board.
  • Final report.

GPS/INS Computing System

slide30

GANTT

GPS/INS Computing System