masters – MEMS and System-on-chip integration Applied to IMU to develop an Inertial Navigation System
Requisits: With the development of the MEMS technology, inertial measurement component, which sense either acceleration or angular rate are required more and more in the commercial market at present. Compared with the classical sensor system, MEMS inertial sensors hold the advantages such as small, strong, accurate, flexible and easy to implement into the wireless system. Also with its price keep on dropping, people focus on its application more and more in vehicle inertial navigation system applied in air, marine and land. However, in most cases, this kind of inertial system is embedded into ad-hoc system, where a set of sensors are placed in fixed directions, and the data analysis depends on the priori information or fixed constraints. As a result it requires high cost in the hardware and software design with a low reuse capability and limited by the specify application.
Descripció: This thesis proposes a solution to cooperate system-on-chip technology with MEMS technology to develop an inertial navigation system platform with IMU and GPS, which is adaptable into any device or interface for the inertial navigation system and easy to be transplanted into any future target technology. This IMU with six freedom degrees can provide the information of acceleration and angular rate of all three axes, equipped with FPGA to capture raw data from sensors, store them into the memory and analyze them by NIOS2 processor at the next process. In addition, there is a complete communication system inside the FPGA, using the NIOS2 processor to control the data transmission between GPS, IMU and memory, waiting for integrating other measurements to realize all kinds of the inertial information like velocity, position and attitude of vehicle in future.

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Generalitat de CatalunyaUniversitat de BarcelonaUniversitat Autònoma de BarcelonaUniversitat Politècnica de CatalunyaConsejo Superior de Investigaciones CientíficasCentres de Recerca de Catalunya