{"title":"Design of SINS/GPS integrated navigation system based on dual NiosII soft-core","authors":"Zhi Chai, Lingjuan Miao, Jun Shen","doi":"10.1109/ICACI.2012.6463151","DOIUrl":null,"url":null,"abstract":"As an advanced integrated navigation system with excellent performance, the SINS/GPS system combines the advantages of strap-down inertial navigation system (SINS) and global positioning system (GPS) respectively. A new architecture of the SINS/GPS system is implemented on SOPC platform with dual NiosII soft-core, which is proposed as an alternative of the conventional implementation with FPGA plus DSP. The two NiosII soft-core, One CPU core is utilized for the central control, data acquisition and off-chip communication with the host computer, another core is for the implementation of real-time navigation. Moreover, the Kaiman filter is implemented as a specific IP embedded into the on-chip system, which possesses a higher efficiency than the conventional method by using C program on DSP. As a hardware filter, it's independent of NiosII. The experimental results show both excellent efficiency and real-time quality of the implemented system. Consequently, the proposed architecture with conspicuous advantages is more feasible and has a reduced resource usage, compared with the conventional method.","PeriodicalId":404759,"journal":{"name":"2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICACI.2012.6463151","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
As an advanced integrated navigation system with excellent performance, the SINS/GPS system combines the advantages of strap-down inertial navigation system (SINS) and global positioning system (GPS) respectively. A new architecture of the SINS/GPS system is implemented on SOPC platform with dual NiosII soft-core, which is proposed as an alternative of the conventional implementation with FPGA plus DSP. The two NiosII soft-core, One CPU core is utilized for the central control, data acquisition and off-chip communication with the host computer, another core is for the implementation of real-time navigation. Moreover, the Kaiman filter is implemented as a specific IP embedded into the on-chip system, which possesses a higher efficiency than the conventional method by using C program on DSP. As a hardware filter, it's independent of NiosII. The experimental results show both excellent efficiency and real-time quality of the implemented system. Consequently, the proposed architecture with conspicuous advantages is more feasible and has a reduced resource usage, compared with the conventional method.