An Integrated Research Platform for Real-time Deeply Integration

Tisheng Zhang, Xiaoji Niu, Hongping Zhang, Di Zhang, Yalong Ban

Abstract:	Deep integration could offer the most benefits in terms of accuracy and robustness improvements to the GNSS receiver and the overall integration system. This topic is being researched widely, and to fully demonstrate its performance in real time, a suitable research platform should be developed. This paper proposes a real-time integrated platform based on Digital Signal Processor (DSP) and Field Programmable Gates Array (FPGA). The platform characteristics are described including DSP for mathematical operations, FPGA for parallel processing, and data interfaces. Deep integration architecture based on this proposed platform is introduced, which includes hardware and software design. In the hardware design, baseband channel, IMU measurement and interface between FPGA and DSP are explained. In the software design, software architecture, aiding data delay and design optimization are analyzed. Tests including data synchronization error, aiding information delay and real time of the system are carried out and the results are discussed. The longest synchronization error is 22 ?s which has little impact on the system performance. The aiding data delay is about 0.4 ms which would cause 0.21 Hz aiding Doppler error when the dynamic of the platform is 100 m/s2. The waveform of the low priority task execution time shows that the software could work on time to ensure the system operating in real time. The developed research platform can support the study on the real-time GNSS/INS deep integration.
Published in:	Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN
Pages:	1666 - 1673
Cite this article:	Zhang, Tisheng, Niu, Xiaoji, Zhang, Hongping, Zhang, Di, Ban, Yalong, "An Integrated Research Platform for Real-time Deeply Integration," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 1666-1673.
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