HW implementation of the Regularization & Resampling parts of the "Tightly coupled GPS-INS algorithm using a particles filter".
A GPS system isn’t fast enough, to meet updating requirements of high speed systems. The algorithm using GPS/INS system, coupled with an integrated particles filter, for error estimation, was developed by Prof. Yaakov Oshman and Mark Koifman, from the Aeronautics faculty of the Technion.
Part A of this project, deals with the implementation the resampling and regularization units, the algorithm uses. Those parts, were defined as a possible “bottle neck”, in terms of time constraints.
In this part (part B), the resampling was brought and verified using the Generic environment.