Title :
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
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;
Conference_Titel :
Sensors, 2011 IEEE
Conference_Location :
Limerick
Print_ISBN :
978-1-4244-9290-9
DOI :
10.1109/ICSENS.2011.6127355
