INS/GPS Integration Based Navigation using Particle Filter

GPS Control System

characterization presentation

Performed by: Yuval Yosef Adi Weissman

Supervised by: Mony Orbach

spring 2009

Main Project Goals

•Combine advantages of INS and GPS in order to improve navigation products

•Implementing above by using Particle Filter

Particle Filter main steps

1. Filter Initialization2. Particle Propagation3. Particle Update4. State Estimation5. Calculation6. Computation7. Resampling8. Regularization9. Weight Recomputing

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Particle Update- Algorithm

•Receive Data from GPS every 1 second•For each particle, when GPS data

received:▫Calculate distance to satellite according

satellite & particle position (considering GPS’ clock drift)

▫Calculate probability function of particle position

▫Update particle weight▫Normalize particle weight (“bottle Neck”)

Calculation- Algorithm

•Necessary in order to prevent particle degeneration

•Estimation of using particles’ weights▫if continue to next step

( computation)▫else, return to “Particle Propagation”

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Particle Update- Block Diagram

Calculation- Block DiagrameffN

Implementation(pipeline)

Project Constraints

•GPS data arrive every 1 second•Parallel computation design (when

possible)-using “Pipeline”•Use multiple pipelines in order to achieve

real time results•“bottle Neck”- Normalization of particle

weight (we must know all particles’ weights before normalization)

Gantt

Thank you