首页|Small Scale Terrain Mapping Using an FPGA-Based Kalman Filter
Small Scale Terrain Mapping Using an FPGA-Based Kalman Filter
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NETL
There is a great need to assist emergency personnel in the ability to evaluate the scene of a crime, an accident or a natural disaster to save human lives. The initial assessment of a scene is the first step in any emergency response, helping to evaluate the impact and extent of the damage and emphasizing what would work and eliminating what would not. Providing personnel with the ability to quickly map the floor plan of a room or building, plot the layout of a well, tunnel or culvert would give them an advantage of knowing how to react to the situation. The accurate measuring of distance is an essential key to these types of applications. This thesis presents the implementation of a testbed used for accurately measuring one dimensional distance. This system is low cost, simple to implement and can be useful for three-dimensional terrain mapping applications. The testbed contains a stationary tray for mounting control units and sensors and a moveable target whose distance from the sensors can be precisely measured. The experiments of this thesis involved collecting data from three different commercially available microcontrollers and a field programmable gate array (FPGA) all interfaced to an ultrasonic range finder (URF). A Kalman filter algorithm is implemented on the FPGA and is used to accurately measure distance that may have initially contained noise or other types of inaccuracies. The devices chosen allowed for a comparison of software- and hardware-based solutions for collecting one dimensional data and improving accuracy. The data collected from the experiments verify that speed and accuracy were improved by using an FPGA based Kalman filter. This type of system can be implemented in distance measuring devices to support emergency services personnel in improving their situational awareness which in turn can help save human lives.
FPGAKalman filterMicrocontrollerTerrain mapping
Andrews, Lenny E.
展开 >
Computer science
Gloster, Clay S.
2018
North Carolina Agricultural and Technical State University
NETL
