HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux

Ramazan Yeniceri; Yakup Huner

doi:10.1109/ICEEE49618.2020.9102597

HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux

Ramazan Yeniceri, Yakup Huner

Department of Aeronautical Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

In this paper, a complementary filter for pitch and roll angle estimation based on linear acceleration and angular rate is designed and implemented on a Xilinx Zynq System on Chip (SoC) device. The filter is partitioned into two parts as hardware (HW) and software (SW) as a result of the communication performance analysis of Advanced eXtensible Interface (AXI) bus for a parallel interface in the Programmable Logic (PL) part of the SoC. PetaLinux operates on the Processing System (PS) part of the SoC and runs a C application. PL performs the HW abstraction by transforming serial inputs/outputs with noise rejection filters into memory mapped variables. Real-time test results and SoC utilization results are reported.

Original language	English
Title of host publication	2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	351-354
Number of pages	4
ISBN (Electronic)	9781728167886
DOIs	https://doi.org/10.1109/ICEEE49618.2020.9102597
Publication status	Published - Apr 2020
Event	7th International Conference on Electrical and Electronics Engineering, ICEEE 2020 - Antalya, Turkey Duration: 14 Apr 2020 → 16 Apr 2020

Publication series

Name	2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020

Conference

Conference	7th International Conference on Electrical and Electronics Engineering, ICEEE 2020
Country/Territory	Turkey
City	Antalya
Period	14/04/20 → 16/04/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

filter
HW/SW codesign
Linux
System on chip
Zynq

Access to Document

10.1109/ICEEE49618.2020.9102597

Cite this

Yeniceri, R., & Huner, Y. (2020). HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux. In 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020 (pp. 351-354). Article 9102597 (2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEEE49618.2020.9102597

Yeniceri, Ramazan ; Huner, Yakup. / HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux. 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 351-354 (2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020).

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abstract = "In this paper, a complementary filter for pitch and roll angle estimation based on linear acceleration and angular rate is designed and implemented on a Xilinx Zynq System on Chip (SoC) device. The filter is partitioned into two parts as hardware (HW) and software (SW) as a result of the communication performance analysis of Advanced eXtensible Interface (AXI) bus for a parallel interface in the Programmable Logic (PL) part of the SoC. PetaLinux operates on the Processing System (PS) part of the SoC and runs a C application. PL performs the HW abstraction by transforming serial inputs/outputs with noise rejection filters into memory mapped variables. Real-time test results and SoC utilization results are reported.",

keywords = "filter, HW/SW codesign, Linux, System on chip, Zynq",

author = "Ramazan Yeniceri and Yakup Huner",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020 ; Conference date: 14-04-2020 Through 16-04-2020",

year = "2020",

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doi = "10.1109/ICEEE49618.2020.9102597",

language = "English",

series = "2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Yeniceri, R & Huner, Y 2020, HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux. in 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020., 9102597, 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020, Institute of Electrical and Electronics Engineers Inc., pp. 351-354, 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020, Antalya, Turkey, 14/04/20. https://doi.org/10.1109/ICEEE49618.2020.9102597

HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux. / Yeniceri, Ramazan; Huner, Yakup.
2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 351-354 9102597 (2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Yeniceri R, Huner Y. HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux. In 2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 351-354. 9102597. (2020 7th International Conference on Electrical and Electronics Engineering, ICEEE 2020). doi: 10.1109/ICEEE49618.2020.9102597

HW/SW Codesign and Implementation of an IMU Navigation Filter on Zynq SoC with Linux

Abstract

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Bibliographical note

Keywords

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