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masters – A Novel Real-Time System-On-Chip Platform Development Applied to an Integrated Inertial Navigation System
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The combination of GPS and IMS provides many complimentary characteristics that overcome the limitations of the individually sensor system. But due to the different signal frequency and error model of each sensor, it produces another problem, the data fusion of these two systems. Over the last 16 years, data fusion has taken an important part of the investigation of the navigation system. There are mainly two parts of algorithm are paid attention for– alignment and calibration.

Nowadays more and more applications require not only the accuracy but also the rapid response. With the necessary to insure the long-term on-board working precision, it results in a complication between the time-consuming and complex calculation in the system design. Therefore timing has become a critical problem.

This work proposes a solution to develop a real-time on-board platform of an integrated inertial navigation system (IINS), in virtue of the SOC technology to finalize the velocity and position estimation of vehicle. In the hardware aspect, this platform integrated IMS and GPS with a calibration system to get the balance of the low cost and high accuracy.

In the software aspect, this system platform addresses a new parallel structure to separate the system design into three modules, like Microprocessor without Interlocked Pipeline Stages (MIPS) structure, to adapt the timing consummation and signal frequency between each module.
Generalitat de CatalunyaUniversitat de BarcelonaUniversitat Autònoma de BarcelonaUniversitat Politècnica de CatalunyaConsejo Superior de Investigaciones CientíficasCentres de Recerca de Catalunya