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Land Vehicle Navigation Algorithm Implementation on Cortex-M4 Embedded Processor

nowadays, solving the positioning problem of unmanned ground or aerial vehicle became more and more pivotal. Such vehicles use a navigation system based on the Global Positioning System (GPS) to solve this issue. However, this system could suffer from jamming and satellites visibility especially in harsh environments. Thus, it is necessary to design and implement an integrated system based on the integration between Inertial Navigation System (INS) and GPS to provide a promising solution to guarantee the availability of the positioning solution in these environments. In addition, INS/GPS integration system overcomes the problems faced by each system individually in short and long term accuracy. The purpose of this research is to design and implement an INS/GPS integrated system on an embedded system. It is carried out through two main steps; the first one is the design of an integration algorithm to fuse the INS and the GPS data together using Extended Kalman Filter (EKF). After this step, the second one is the implementation of this system on a Tiva C microcontroller. All the sensors used in hardware implementation are low cost sensor and available on-line as a commercial product. Then, the positioning problem of moving vehicles can be solved by using GPS/INS integration system based on low cost sensors.