Extended Kalman Filter based loosely coupled INS/GPS integration scheme using FPGA and DSP
by Vivek Agarwal, Hemendra Arya, Biswanath Nayak, Lalit R. Saptarshi
International Journal of Intelligent Defence Support Systems (IJIDSS), Vol. 1, No. 1, 2008

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.

Online publication date: Sat, 13-Sep-2008

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Intelligent Defence Support Systems (IJIDSS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com