NDLI: GNSS/INS State Estimation for Multi-Robot Systems Based on Embedded Multi-core Stream Architecture

Content Provider	IEEE Xplore Digital Library
Author	Shenglong Li Zhaolin Li Hao Liu Fang Wang
Copyright Year	2012
Abstract	An embedded multi-core stream architecture is developed to solve the intensive computation of real-time multi-target systems, such as GNSS/INS state estimation problems for multi-robot systems. A number of isomorphic stream cores are integrated in a single chip, interconnected with internal network. Each stream core employs 4 arithmetic clusters to support double precision floating point number operations. The data-path and control-path are both full pipelined, and result forward technology is used to solve the data conflict. Hierarchical storage structure, internal DMA controller and 64-bit internal buses can provide sufficient data bandwidth to feed the FALUs. Experimental result shows that more than 99% executing time is reduced for the EKF algorithm in GNSS/INS integrated system based on the proposed stream architecture, compared with other embedded processing platforms. An evaluation stream core is implemented in TSMC 65nm CMOS technology, the synthesis result shows the time delay is 4.94ns in the worst case, and the power consumption is 404.7 mW when it works at 200MHz.
Starting Page	1403
Ending Page	1412
File Size	875306
Page Count	10
File Format	PDF
ISBN	9781467321648
DOI	10.1109/HPCC.2012.206
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-25
Publisher Place	United Kingdom
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Program processors Global Navigation Satellite Systems GNSS/INS systems stream architecture Computer architecture kalman filter Streaming media multi-robot system Registers Kernel Robots industrial application
Content Type	Text
Resource Type	Article

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