Abstract
The emphasis of this paper is on MicroBlaze implementation of GPS/INS integrated system on Virtex-6 field programmable gate array (FPGA). Issues related to accuracy of position, resource usage of FPGA in terms of slices, DSP48, block random access memory, computation time, latency and power consumption are presented. An improved design of a loosely coupled GPS/INS integrated system is described in this paper. The inertial navigation solution and Kalman filter computations are provided by the MicroBlaze on Virtex-6 FPGA. The real time processed navigation solutions are updated with a rate of 100 Hz.
Highlights
For autonomous navigation systems, MEMS-based inertial measurement unit (IMU) systems have proved to be highly popular and feasible (Grewal et al 2001; Moon et al 1998; Faulkner et al 2002; Hegg 2002; Cao et al 2002; Jaffe et al 2005)
The MicroBlaze processor is a 32-bit Harvard Reduced Instruction Set Computer (RISC) architecture optimized for implementation in Xilinx field programmable gate array (FPGA) with separate 32-bit instruction and data buses running at full speed to execute programs and access data from both on-chip and external memory at the same time
The trajectories obtained from the flight dynamics and controls (FDC) in MATLAB give the simulated sensor data
Summary
MEMS-based inertial measurement unit (IMU) systems have proved to be highly popular and feasible (Grewal et al 2001; Moon et al 1998; Faulkner et al 2002; Hegg 2002; Cao et al 2002; Jaffe et al 2005). These systems are cost effective, compact and light weight. Agarwal et al (2009) have proposed an improved design and fabrication of a loosely coupled GPS/INS integrated system for compact and low power applications. Details of the MicroBlaze implementation of the GPS/INS integrated system on Virtex-6 FPGA are presented. –– ax ay az are the accelerations from the accelerometers in m/s2, Accelerom eter ax , ay , az MicroBlaze on Virtex-6
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