Title: Extended Kalman Filter based loosely coupled INS/GPS integration scheme using FPGA and DSP

Authors: Vivek Agarwal, Hemendra Arya, Biswanath Nayak, Lalit R. Saptarshi

Addresses: Indian Institute of Technology-Bombay, Powai Mumbai 400 076, India. ' Indian Institute of Technology-Bombay, Powai Mumbai 400 076, India. ' Indian Institute of Technology-Bombay, Powai Mumbai 400 076, India. ' Indian Institute of Technology-Bombay, Powai Mumbai 400 076, India

Abstract: GPS provides an accurate position and velocity information but with a slower update rate, whereas INS provides position, velocity and attitude information with a higher update rate. However, INS alone cannot provide proper solutions due to the increasing error characteristics of the accelerometer and gyros of the inertial sensor. To get an accurate navigation solution, it is necessary to integrate INS with GPS. This paper discusses integration of INS/GPS systems using Extended Kalman Filter (EKF). TMS320vc33 floating point DSP is used for INS and EKF computations. A FPGA (Field Programmable Gate Array) based GPS data acquisition system and Dual Port RAM (DPRAM) have been designed and used for the presented architecture.

Keywords: extended Kalman Filter; EKF; inertial navigation systems; INS; inertial measurement unit; IMU; global positioning systems; GPS; digital signal processing; DSP; field programmable gate array; FPGA; loosely coupled INS-GPS integration; inertial sensors; navigation accuracy.

DOI: 10.1504/IJIDSS.2008.020271

International Journal of Intelligent Defence Support Systems, 2008 Vol.1 No.1, pp.5 - 26

Available online: 13 Sep 2008 *

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