In this project, the goal is to implement tightly coupled GPS/INS on embedded system using low cost off the shelve components. Recently, embedded systems gained lots of interest from hobbyists and DYI enthusiasts due to its low cost and improving computational capabilities. Many of these systems such as the Arduino, Raspberry Pi, Beagle Bone, Intel’s Adison, etc. have been used in many projects ranging from Internet of Things (IOT) and controlling different aspect of home appliances and surveillance to controlling small robots and drones. The goal of the project is to use inexpensive GPS and IMU units, together with a low cost embedded system to provide a localization system that can provide a sub-meter level position estimate accuracy. This system is to provide this accuracy even in GPS-denied environments. Due to the required sub-meter accuracy level, differential GPS implementation is considered. Therefore, it was essential to develop a reference station using embedded systems to provide the reference measurements. Throughout this project, the students will learn the fundamentals of both GPS and IMU based navigation systems and implemented this knowledge in developing a localization system by fusing GPS and IMU measurements. The fusion algorithm will be coded and implemented on an embedded system (Raspberry Pi 2) and benchmark tests will be carried out to quantify the final product performance under different GPS-available and GPS-denied environments.
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