Vehicle localization systems: towards low-cost architectures

Samir Sakhi (1) , Abdelhafid Elouardi (2) , Samir Bouaziz (2) , Mahmoud Belhocine (1)

1 EMP - École Militaire Polytechnique [Alger]
2 SATIE-MOSS - Méthodes et Outils pour les Signaux et Systèmes

INS-GPS integration is a fundamental task used to enhance the accuracy of an inertial navigation system alone. However, its implementation complexity has been a challenge to most embedded systems. This paper proposes a low-cost FPGA-based INS-GPS integration system, which consists of a Kalman filter and a soft processor. Moreover, we also evaluate the navigation algorithm on a low-cost ARM processor. Processing times and localization accuracy are compared in both cases for single and double precision floating-point format. Experimental results show the advantages of the FPGA-based approach over the ARM-based approach. The proposed architecture can operate at 100 Hz and demonstrates the advantage of using FPGAs to design low-cost INS-GPS localization systems.

Mots clés: INS-GPS sensors integration; Kalman filter; field-programmable gate array; hardcore and softcore processor

Domaines: Electronique

Samir Sakhi, Abdelhafid Elouardi, Samir Bouaziz, Mahmoud Belhocine. Vehicle localization systems: towards low-cost architectures. Turkish Journal of Electrical Engineering and Computer Sciences, 2016, 24, pp.2010 - 2027. ⟨10.3906/elk-1402-260⟩. ⟨hal-01684831⟩