Abstract
This paper compares the performances of two loosely coupled Micro blaze Implemented GPS-INS Integrated Systems On Spartan 6 And Zynq FPGAs. The first system usesa Micro blaze implemented GPS-INS integrated system on Spartan 6 Field Programmable Gate Array (FPGA) for inertial navigation solution and Kalman filter computation.The second system uses a Micro blaze implemented GPS-INS integrated system on Zynq FPGA for inertial navigation solution and Kalman filter computation . Real time issues related to accuracy of position, GPS outages, Selective availability of GPS, Higher variances of accelerometers, Resource usage of FPGA in terms of Slices, DSP48 and Block Random Access Memory (BRAM), Computation time, latency, and power consumption are presented.The systems are designed to give real time processed navigation solutions with an update rate of 100 Hz.
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