University of Twente Student Theses


An FPGA based sensor fusion algorithm for IMU data processing

Pennestri, Pietro. (2022) An FPGA based sensor fusion algorithm for IMU data processing.

[img] PDF
Abstract:This study was motivated by the development of a smart bike accessory to evaluate onboard, according to internationally recognized standards, vibrational comfort and road condition using accelerometer sensor data. Since the norms require gravity filtered accelerometer data, it is necessary to compute the orientation of the InertialMeasurement Unit (IMU) platform. Thus, the thesis theoretical focus was to estimate a body attitude using a 9-d.o.f IMU and provide an FPGA architecture for its implementation. As a novelty, it is herein proposed an improvement of the Madgwick algorithm, both in accuracy and speed. The first amelioration is achieved by adding a necessary condition between quaternions and their time derivatives in the computational flow. Since the algorithm requires many vectors normalization to compute the square root (SQRT) and inverse square root (ISQRT) of floating-point numbers, a customized architecture is proposed. This architecture implements a novel polynomial approximation based on the Chebyshev min-max criterion. A comparison of the performance of our SQRT/ISQRT floating-point IP core with vendor-provided IP cores confirms a smaller resource utilization and nearly four times better performance (smaller clock-cycle latency).
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:30 exact sciences in general, 31 mathematics, 52 mechanical engineering, 54 computer science
Programme:Embedded Systems MSc (60331)
Link to this item:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page