SlideServe
Télécharger Obtenir Pro
Menu
Accueil Pro
Préférences
ApparenceLight Aide et commentaires
© SlideServe · v2026

GPS-INS resampling VERIFICATION

olwen avatar
olwen
8 diapositives · 216 Views · Sep 21, 2014

This project presents a comprehensive verification of a GPS-INS system's resampling algorithm, developed to address the speed limitations of traditional GPS systems in high-speed applications. Supervised by Mony Orbach and conducted by students Oren Hyatt and Alex Dutov, Part B focuses on the resampling process, tested using a Generic environment to assess real-time performance and resource requirements. The study successfully verified input vectors, identified error sources, and confirmed compatibility with real-time demands, highlighting the integration of advanced filtering techniques.

GPS-INS resampling VERIFICATION - slide 1
01 / 8GPS-INS resampling VERIFICATION
1 / 17

Télécharger la présentation

GPS-INS resampling VERIFICATION
Une image / un lien ci-dessous est fourni (tel quel) pour télécharger la présentation

Politique de téléchargement : le contenu du site vous est fourni TEL QUEL pour votre information et votre usage personnel ; il ne peut être vendu, concédé sous licence ni partagé sur d’autres sites sans l’accord de son auteur.Le contenu vous est fourni TEL QUEL, pour votre information et votre usage personnel uniquement. Téléchargez la présentation en cliquant sur ce lien. Lors du téléchargement, si vous ne parvenez pas à télécharger une présentation, l’éditeur a peut-être supprimé le fichier de son serveur.Pendant le téléchargement, si vous ne parvenez pas à obtenir une présentation, le fichier a peut-être été supprimé par l’éditeur.

F I N

Plus de contenu associé

Transcription de la présentation

  1. GPS-INSresampling VERIFICATION Final PresentationAnnual project (Part B)Winter semesterתש"ע ((2009 Students: Oren Hyatt, Alex Dutov Supervisor: MonyOrbach

  2. Abstract • A GPS system isn’t fast enough, to meet updating requirements of high speed systems. The algorithm using GPS/INS system, coupled with an integrated particles filter, for error estimation, was developed by Prof. Yaakov Oshman and Mark Koifman, from the Aeronautics faculty of the Technion. • Part A of this project, deals with the implementation the resampling and regularization units, the algorithm uses. Those parts, were defined as a possible “bottle neck”, in terms of time constraints. • In this part (part B), the resampling was brought and verified using the Generic environment.

  3. Project’s goal • Learning the complete system protocol and using it to work with Generic. • Resampling’s verification using Generic Environment. • Time requirements checking. • HW resources requirements checking.

  4. Resampling W[0.0.28] Index_out[0.16.0] Reject insignificant particles. Duplicate remained particles, with respect to their relative weight.* Format’s Notation: X.YY.ZZZ ~ sign ; number ; fraction *see part A for more info

  5. Generic • Generic Program is a testbench for GPS-INS system. • Provides input vectors and stores the results in .BIN file. • Allows to test all parts of the algorithm in different points of time. • Uses the same protocol for all parts of the algorithm.

  6. Testing environment • IC1 – vhd that was created by ProcWizard for Frame1 and its .bdf file is used by Generic Program. • Frame1 – System main controler. • Generic – a testbench unit. • Resampling – our unit. IC1 Frame1 Generic Resampling

  7. Test results (Generic vsMatlab) T=201 Number of indexes misplaced: 829

  8. Summary • All the input vectors were successfully tested. • Error source were found (no HW bug, but accuracy difference between Generic and Matlab). • HW resources slightly increased (we still can manage it). • Because of a new controller and the Generic protocol frequency has been reduced (10 times), but it still meet real-time requirement.