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

System

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

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

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.

System Function Block Diagram

System Hardware Block Diagram

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)

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

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

Signal Noise

Real Time Data Analysis

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

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.

References and Sources