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<p>The Inertial Navigation System (INS) is a device that uses a computing unit, motion sensors (accelerometers), and rotation sensors (gyroscopes) to compute the position, orientation, and velocity of a moving object without external reference. The INS consists of two main components: the Inertial Measurement Unit (IMU) and the mechanization. In this way, mechanization block can be implemented on hardware separately. Field-Programmable Gate Array (FPGA) technology offers high processing speed, enhanced system performance, parallel data processing, scalability, and other benefits such as implementing denoising. Hence, this paper aims to implement the hardware mechanization and low-weight denoising method (Lifting Wavelet Transform (LWT)) on the FPGA platform. The data entry rate is 10 ms, the mechanization block processing time and update time are 8.438 us and 3.37 us, respectively. The mechanization RMSE is also like 2.16e-6 for latitude and 2.82e-06 for longitude, in Radian.</p>

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FPGA-based implementation of the mechanization block

  • 期刊论文

  • 发表日期：

    2026年5月2日

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  • A. Aboutalebi,
  • H. Alaeiyan,
  • M. R. Mosavi

摘要

The Inertial Navigation System (INS) is a device that uses a computing unit, motion sensors (accelerometers), and rotation sensors (gyroscopes) to compute the position, orientation, and velocity of a moving object without external reference. The INS consists of two main components: the Inertial Measurement Unit (IMU) and the mechanization. In this way, mechanization block can be implemented on hardware separately. Field-Programmable Gate Array (FPGA) technology offers high processing speed, enhanced system performance, parallel data processing, scalability, and other benefits such as implementing denoising. Hence, this paper aims to implement the hardware mechanization and low-weight denoising method (Lifting Wavelet Transform (LWT)) on the FPGA platform. The data entry rate is 10 ms, the mechanization block processing time and update time are 8.438 us and 3.37 us, respectively. The mechanization RMSE is also like 2.16e-6 for latitude and 2.82e-06 for longitude, in Radian.