Vehicle localization systems: towards low-cost architectures

Authors

SAKHI SAMIR
ABDELHAFID ELOUARDI
BOUAZIZ SAMIR
MAHMOUD BELHOCINE

DOI

10.3906/elk-1402-260

Abstract

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.

Keywords

INS-GPS sensors integration, Kalman filter, field-programmable gate array, hardcore and softcore processor

First Page

2010

Last Page

2027

Recommended Citation

SAMIR, SAKHI; ELOUARDI, ABDELHAFID; SAMIR, BOUAZIZ; and BELHOCINE, MAHMOUD (2016) "Vehicle localization systems: towards low-cost architectures," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 24: No. 4, Article 2. https://doi.org/10.3906/elk-1402-260
Available at: https://journals.tubitak.gov.tr/elektrik/vol24/iss4/2