An application specific instruction set processor for angular position estimation with inertial measurement units

Author

Sabatelli, Simone ; Galgani, Marco ; Fanucci, Luca ; Rocchi, Alessandro

Author_Institution

Dept. of Inf. Eng., Univ. of Pisa, Pisa, Italy

fYear

2011

fDate

28-31 Oct. 2011

Firstpage

886

Lastpage

888

Abstract

The architecture of an application specific instruction set processor (ASIP) for an orientation tracking system to be interfaced with 6D inertial measurement units was developed. A sensor fusion algorithm with a simplified Kalman filter was implemented. The algorithm was modeled with MathWorks Simulink and the architecture of an application specific signal processor was specifically designed to process the filter algorithm. The ASIP was mapped on TSMC 0.18 μm technology to be integrated within the conditioning logic of a 6D IMU sensor. A proof-of-concept demonstrator on FPGA technology was implemented and successfully verified.

Keywords

Kalman filters; angular measurement; application specific integrated circuits; computerised instrumentation; field programmable gate arrays; instruction sets; probabilistic logic; sensor fusion; 6D IMU sensor; 6D inertial measurement units; ASIP; FPGA technology; Kalman filter; MathWorks Simulink; TSMC technology; angular position estimation; application specific instruction set processor; application specific signal processor; conditioning logic; orientation tracking system; proof-of-concept demonstrator; sensor fusion algorithm; size 0.18 mum; Algorithm design and analysis; Educational institutions; Estimation; Field programmable gate arrays; Kalman filters; Sensor fusion; Signal processing algorithms;

fLanguage

English

Publisher

ieee

Conference_Titel

Sensors, 2011 IEEE

Conference_Location

Limerick

ISSN

1930-0395

Print_ISBN

978-1-4244-9290-9

Type

conf

DOI

10.1109/ICSENS.2011.6127355

Filename

6127355