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

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.