Publication:
A low-cost field re-configurable real-time GPS/INS integrated system - Design and implementation
A low-cost field re-configurable real-time GPS/INS integrated system - Design and implementation
dc.contributor.author | Li, Y | en_US |
dc.contributor.author | Mumford, P | en_US |
dc.contributor.author | Wang, J | en_US |
dc.contributor.author | Rizos, C | en_US |
dc.date.accessioned | 2021-11-25T15:23:06Z | |
dc.date.available | 2021-11-25T15:23:06Z | |
dc.date.issued | 2007 | en_US |
dc.description.abstract | This paper describes the development of a real-time GPS/INS integrated system based on a field programmable gate array (FPGA) platform. The objective is to develop a generic hardware/software platform for positioning and imaging sensor integration. Compared with the application-specific integrated circuit (ASIC) approach, the FPGA approach can shorten the research and development (R&D) cycle. Its reprogrammable hardware provides a system design methodology of lower risk. It also allows maximum flexibility, being able to integrate a wide range of GPS and INS sensor packages. The hardware design is built on the Altera's Nios II development kit. A time-sync universal asynchronous receiver/transmitter (UART) is implemented, which accesses a free-running clock counter and reads the count at the instant of start bit of a serial transmission. The count is then used to align the time of the INS data with the GPS time frame. The embedded software is implemented in a multi-thread configuration based on the Embedded Configurable Operating System (eCos). Four threads perform tasks that include; real-time decoding GPS and INS binary streams, time synchronisation, strapdown INS computation, and integration Kalman filtering. The system records the raw data and the solution onto a compact flash card for replay or post-processing purposes. The real-time solution is also sent out through a serial port to a mobile device which can access the internet. As a result, the real-time solution can be visualised on GoogleEarth as well as monitored from a command center. Preliminary tests demonstrate the feasibility of this type of system on the FPGA platform, and the functionality of the system including; the stability and accuracy of the time synchronisation mechanism, the performance of the hardware and software architecture, and the workability of the algorithm. | en_US |
dc.identifier.uri | http://hdl.handle.net/1959.4/44394 | |
dc.language | English | |
dc.language.iso | EN | en_US |
dc.publisher | IGNSS Society | en_US |
dc.rights | CC BY-NC-ND 3.0 | en_US |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/3.0/au/ | en_US |
dc.source | Legacy MARC | en_US |
dc.subject.other | GPS. | en_US |
dc.subject.other | Multisensor integration. | en_US |
dc.subject.other | Embedded system. | en_US |
dc.subject.other | FPGA. | en_US |
dc.subject.other | INS. | en_US |
dc.title | A low-cost field re-configurable real-time GPS/INS integrated system - Design and implementation | en_US |
dc.type | Conference Paper | en |
dcterms.accessRights | open access | |
dspace.entity.type | Publication | en_US |
unsw.accessRights.uri | https://purl.org/coar/access_right/c_abf2 | |
unsw.identifier.doi | https://doi.org/10.26190/unsworks/736 | |
unsw.publisher.place | Sydney | en_US |
unsw.relation.faculty | Engineering | |
unsw.relation.ispartofconferenceLocation | Sydney | en_US |
unsw.relation.ispartofconferenceName | IGNSS2007 | en_US |
unsw.relation.ispartofconferenceProceedingsTitle | IGNSS2007 Symp. on GPS/GNSS | en_US |
unsw.relation.ispartofconferenceYear | 2007 | en_US |
unsw.relation.originalPublicationAffiliation | Li, Y, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW | en_US |
unsw.relation.originalPublicationAffiliation | Mumford, P, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW | en_US |
unsw.relation.originalPublicationAffiliation | Wang, J, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW | en_US |
unsw.relation.originalPublicationAffiliation | Rizos, C, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW | en_US |
unsw.relation.school | School of Civil and Environmental Engineering | * |
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