2D Mobile multi-sensor navigation system realization using FPGA-based embedded processors

Abstract

Global positioning system (GPS) is a satellite-based navigation system that is widely used for different navigation applications. In open-sky, GPS can provide an accurate navigation solution, however, in urban canyons and indoor environments, the satellite signals are blocked and GPS fails to provide a reliable navigation solution. Towards the search for a more accurate and low-cost positioning solution, integrated navigation algorithms are developed which utilize the measurements of low-cost motion sensors such as accelerometers and gyroscopes, and integrate them with GPS measurements to provide a reliable navigation solution. The goal of this research paper is to narrow the idea-to-implementation gap by realizing the navigation algorithm on a portable low-cost real-time embedded system. The role of such system is to acquire and synchronize the measurements from multiple sensors and then apply a navigation algorithm which integrates the various measurements to provide a reliable real-time navigation solution.

UWB Based Relative Planar Localization with Enhanced Precision for Intelligent Vehicles

“…However, the accuracy of consumer GNSS is around 10 m [4]. Besides, satellite signals are usually disrupted or blocked in urban canyons, rural tree canopies, and tunnels, leading to degradation or interruption in the positioning information [5]. Many solutions have been proposed on this issue.…”

Vehicle localization systems: towards low-cost architectures

“…However, an NIOS II softcore processor was used in [14]. Other works like [12] proposed a multisensor navigation system for a 2D mobile robot using an FPGA. In this work, the authors realized a 2D navigation system using an FPGA-based embedded processor; they used a Xilinx softcore processor (Microblaze) and studied the impact of precision format on navigation system implementation.…”