1. GPS Computer Program Performed by: Moti Peretz Neta Galil Supervised by: Mony Orbach Spring 2009 Characterization presentation High Speed Digital Systems Lab Electrical Engineering Department Technion – Israel Institute of Technology

2. GPS Computer Program 2 Introduction The advantages of integrating INS and GPS systems are well known The integration is implemented using KELMAN filter which is not the optimal solution We will use the Regularized Particle Filter – RPF for the implementation In this way, we will enable working in nonlinear and nongaussian conditions

3. GPS Computer Program 3 The Particles Filter

4. GPS Computer Program 4 Objectives Implementing the RPF algorithm in software – C language Serving as reference for implementing the algorithm in hardware Creating interface between the PC and the hardware

5. GPS Computer Program 5 Working Environment Programming on PC in C language Transferring the following data to GIDEL serial card: Initial information about the 30K particles Updating GPS – 12 satellites per second INS information – every 10 mSec Estimated location vector – every 10 mSec

6. GPS Computer Program 6 Implementation Using 2 processes Process 1 – Implementing phases 1-7, 9 of the algorithm Process 2 – Implementing the regularization - phase 8 of the algorithm The two processes will run simultaneously

7. GPS Computer Program 7 Programming model Initializing Main Loop Regularization Results

8. GPS Computer Program 8 Programming model Phase 1 – initializing the filter: randomize 30,000 particles and initialize their place, velocity, angle and weight Phase 2 – creating a loop which will consist phases 1-7, 9 of the algorithm Phase 3 – particles regularization: phase 8 of the algorithm which will be a thread of the primary process Phase 4 – simulation results Initializing Main Loop Regularization Results

9. GPS Computer Program 9 Data Structures (estimated) Particles – an array of 30K elements. Each element will be a particle struct which will contain all the relevant fields that represents the particle Particles weights – a separate 30K array (optional) GPS and INS data – will be stored in global structs

10. GPS Computer Program 10 Schedule FinishStartTask NameWBS 14/6/0925/3/09GPS Computer Program0 25/3/09 Project Beginning1 24/5/0926/3/09Learning the RPF algorithm2 3/5/0926/4/09Designing the program model3 10/5/091/5/09Preparing characterization presentation4 21/5/09 Characterization presentation5 31/5/0918/5/09Learning the equipment, options and functions required in C 6 15/6/0925/5/09Implementing the algorithm in C7 12/6/095/6/09Preparing mid semester presentation8 14/6/09 Mid semester presentation9

11. GPS Computer Program 11 Gantt Chart

12. GPS Computer Program 12 Thank You