S Sandeep Kumar, R Ravi Kumar
Abstract: Position tracking systems supported with RISS and gyroscopes are found to be better solutions in the places where GPS is unemployable or in the places where GPS cannot work. Generally systems that are based on GPS for position tracking, face a lot of problems in the areas where line of sight is hard to achieve i.e. GPS denied environment, like dense terrestrial areas, subways, tunnels and hidden places. This system provides continuous and highly reliable position tracking by synchronizing real time stimulus obtained from the sensors and the actual GPS values. The core processor of the system is built on an FPGA which is used in the system kernel. The key factor for using FPGA in the system is its customizable core and its flexibility to interface with the sensors. The core employees the Hybrid Kalman filter for estimating the displacement and position. In this system we integrate the 3D-RISS with GPS to achieve a Reliable and uninterrupted Position Tracking. In these systems the processor estimates the position of the object based on the four inputs taken from the RISS and the Odometer, they are Velocity, acceleration, orientation and position. Here the system integrates the offline Inertial data (i.e while the GPS is unavailable) with that of actual GPS data. The system starts to compute the position and velocity using the initial data provided by the GPS at the instant it was lost. This kind of position tracking systems used in various kinds of moving objects like Aircrafts, Guided missiles, Land Rovers, and Marine navigations.
Keywords: Position Tracking, FPGA, Inertial Navigation System, IP-Core, RISS, Hybrid Kalman Filter