1. GPS + Inertial Sensor Fusion (GISF) Fall 2013 Presentation
Aleksey Lykov
William Tarpley
Anton Volkov

2. System

3. Presentation Overview
System Showcase and Description
Project Progress
Challenges
Expected Final Functionality

4. Components MPU-9150 Accelerometer/Gyroscope/Magnetometer sensor
Raspberry Pi Microcomputer

5. Purpose
Inexpensive inertial navigation system to be used for navigation by a person or vehicle in the absence of reliable satellite data.
The system must acquire data from the IMU and GPS and analyze them in real time to give an accurate real-world position.

6. System Function Block Diagram

7. System Hardware Block Diagram

8. Junior Project Progress
Reads real-time real-world acceleration in three dimensions at approximately 250 samples/second
MPU-6050 data collected includes raw XYZ acceleration, raw YPR gyroscope data, calculated YPR from start, normalized XYZ gravity vector, and finally world-reference- frame XYZ acceleration
Stores data on SD card with timestamps for each entry at end of sampling run (up to at least 100MB)

9. Progress Since
Attached GPS unit (Venus x??? GPS) via the Raspberry Pi’s serial interface
Successfully acquiring

10. Challenges Signal Noise Real time data analysis
Interfacing IMU and GPS data

11. Signal Noise

12. Real Time Data Analysis

13. IMU and GPS Integration
System polls IMU at 250 samples per second
System polls GPS at 1 sample per second
Program will use 2 threads to simultaneously acquire and time-stamp the incoming data

14. Expected Final Functionality
Real-time on-board data analysis.
Reliable short term inertial navigation tracking with minimized signal noise.
Functional GPS integration via Kalman filter.
Standalone, marketable low cost navigation system.

15. References and Sources