GPS-INSRESAMPLING VERIFICATION

Final PresentationAnnual project (Part B)

Winter semester 2009תש"ע ((

Students: Oren Hyatt, Alex DutovSupervisor: Mony Orbach

Abstract A GPS system isn’t fast enough, to meet updating requirements of

high speed systems. The algorithm using GPS/INS system, coupled with an integrated particles filter, for error estimation, was developed by Prof. Yaakov Oshman and Mark Koifman, from the Aeronautics faculty of the Technion.

Part A of this project, deals with the implementation the resampling and regularization units, the algorithm uses. Those parts, were defined as a possible “bottle neck”, in terms of time constraints.

In this part (part B), the resampling was brought and verified using the Generic environment.

Project’s goal Learning the complete system protocol

and using it to work with Generic. Resampling’s verification using Generic

Environment. Time requirements checking. HW resources requirements checking.

Resampling

Format’s Notation:X.YY.ZZZ ~ sign ; number ; fraction*see part A for more info

W[0.0.28] Index_out[0.16.0]Reject insignificant particles.

Duplicate remained particles, with respect to their relative weight.*

Generic Generic Program is a testbench for GPS-

INS system. Provides input vectors and stores the

results in .BIN file. Allows to test all parts of the algorithm in

different points of time. Uses the same protocol for all parts of

the algorithm.

Generic InterfaceFPGA selection(We work with FPGA #3)Time point selectionWeights input from .BIN/Indexes output to .BIN

Number of Indexes in Output

Control buttons Propogate 30K weights

Testing environment IC1 – vhd that was

created by ProcWizard for Frame1 and its .bdf file is used by Generic Program.

Frame1 – System main controler.

Generic – a testbench unit.

Resampling – our unit.

IC1Frame1

GenericResampling

Resampling main controler

Test results (Generic vs Matlab)T=201

Number of indexes misplaced: 829

Test results (HW vs Matlab)T=1001

Number of indexes misplaced: 786

Test results (HW vs Matlab)T=2001

Number of indexes misplaced: 247

Test results (HW vs Matlab)T=3101

Number of indexes misplaced: 1127

T=4301

Number of indexes misplaced: 935

Results Analysis Only the time points provided by Generic

were tested. Generic test results are very close to the

matlab test. There is an error in indexes caused by

rounding (see next slide).

Error source There is a step in algorithm which adds

(1/30K) to the random number. Matlab precision is better than Generic, so there is a misfit in some indexes.

Generic: Matlab: Error = It’s the only error source, next slide will

demonstrate it.

271 4474 2 0.0000333338975906372070312530K

1 3.3333333333333333333333333333333e-530K

105.6425730387369791666666666666667 10

Error source demonstrationT=201

Same value in Matlab and GenericDifferent value in Matlab and Generic

Number of indexes misplaced: 829 Number of indexes misplaced: 0

Timing and Resources

HW resources (including the new controller)Hardware Resources usage

Comb.ALU Dedicated logic regs.

Total regs.

Total block memory bits

DSP 18bits

718 271 271 2,097,152 4

Summary of the unit:

Timing (including the new controller)Speed

fmax(timing sim.)

N /fmax

17.89[Mhz] 1.677[msec]

Summary of the unit:

HW resources (without the new controller)

Summary of the unit:Table 2: resampling characteristics

Hardware Resources usageComb.ALU Dedicated

logic regs.Total regs.

Total block memory bits

DSP 18bits

524 146 146 2,097,152 4

Timing (without the new controller)Speed

fmax(timing sim.)

N /fmax

187[Mhz] 161[Usec]

Problems and Solutions There was no written manual about

Generic. Trial and error solution.

Generic has several bugs (see Generic document). Some were found by Ayal (D1127). Some were found by us (and again, trial

and error apprauch). Some code passes Quartus simulation

but didn’t work on board. Several code confuguration were tried until

it worked.

Summary All the input vectors were successfully

tested. Error source were found (no HW bug, but

accuracy difference between Generic and Matlab).

HW resources slightly increased (we still can manage it).

Because of a new controller and the Generic protocol frequency has been reduced (10 times), but it still meet real-time requirement.

Questions

The END