1. INS/GPS Integration Based Navigation using Particle Filter GPS Control System MidTerm presentation Performed by: Yuval Yosef Adi Weissman Supervised by: Mony Orbach spring 2009

2. Project Goals Combine advantages of INS and GPS in order to improve and upgrade navigation products Implementation of the above by using a Particle Filter

3. Our part responsibilty - Particle Update - Calculation

4. What have we done so far? (1) Learning the Partical Filter’s algorithm ▫Understanding all main steps ▫Deeper understanding of our steps functionality Learning the development environment ▫Coding VHDL block entities using “ModelSim” ▫learning “HDL designer” & “Quartus” Implementing all Block entities ▫For both “partical update” & “Neff calculation” ▫Design general architecture

5. What have we done so far? (2) Data size declaration ▫I/O data- GPS & particle parameters’ sizes were set ▫Internal signal widths were set ▫Decided on sin/cos/exp functions I/O data size

6. Particle Update- Implementation (1) Distance calculation

7. Particle Update- Implementation (2) Probability function

8. Particle Update + Neff- the “big picture”

9. Still to think about… Cycle length is 10 mSec ▫Reducing (as much as we can) our computing time:  Adding more registers in pipeline (“break block”)  Multiple pipelines take into consideration hardware limitations

10. What’s next ? Implementation of pipeline & FSM using our VHDL entities Combination of infrastructure functions (sin, cos, exp) Integration ▫with hardware (GIDEL) ▫with all other teams

11. Schedule 1-31/10 – implementing FSM + combine trig. functions 1-7/11 – simulation and testing (GIDEL) 8-20/11 – integration + final presentation

12. Thank you