WP3-15 2 - Revision history

Acorde: /* Detailed Description */

2023-03-14T12:33:18Z

Detailed Description

← Older revision		Revision as of 12:33, 14 March 2023
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	* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.		* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.
	* Enhancement of the navigation software, for adapting it to the new platform and to apply algorithmic improvements, including the assessment of possible AI based improvements ([[WP4-16]]).		* Enhancement of the navigation software, for adapting it to the new platform and to apply algorithmic improvements, including the assessment of possible AI based improvements ([[WP4-16]]).
	* Providing support of anti-jamming and anti-spoofing features ([[WP5-~~11-ACO~~]]).		* Providing support of anti-jamming and anti-spoofing features ([[WP5-11_ACO]]).
	* Providing an improved/extended interface for a smoother integration on drone systems (activity globally associated to WP3, with implications in WP4 and WP5).		* Providing an improved/extended interface for a smoother integration on drone systems (activity globally associated to WP3, with implications in WP4 and WP5).

Acorde: /* Detailed Description */

2023-03-14T12:31:54Z

Detailed Description

← Older revision		Revision as of 12:31, 14 March 2023
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	File:ACO_GLAD_PLUS.png\|thumb\|800px\|center\|alt=ACORDE GLAD+ component\| Enhancements performed to the ACORDE GLAD system in COMP4DRONES (click on them for more information)		File:ACO_GLAD_PLUS.png\|thumb\|800px\|center\|alt=ACORDE GLAD+ component\| Enhancements performed to the ACORDE GLAD system in COMP4DRONES (click on them for more information)
	rect 512 402 1443 519 [[WP4-16]]		rect 512 402 1443 519 [[WP4-16]]
	rect 522 657 1449 763 [[WP5-~~11-ACO~~]]		rect 522 657 1449 763 [[WP5-11_ACO]]
	</imagemap>		</imagemap>

Grolleaue: /* Geo-referenced Position and Attitude Estimation */

2023-03-10T08:32:35Z

Geo-referenced Position and Attitude Estimation

← Older revision		Revision as of 08:32, 10 March 2023
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	\|-		\|-
	\| TRL \|\| 5		\| TRL \|\| 5
			\|-
			\| Contact \|\| fernando.herrera at acorde.com
	\|}		\|}

Acorde: /* Current Status */

2022-09-29T00:05:10Z

Current Status

← Older revision		Revision as of 00:05, 29 September 2022
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	In addition to a significant upgrade of its positioning products, in COMP4DRONES ACORDE is also aiming the improvement of its productivity on the modelling, design, implementation and validation procedures of these type of systems [[WP6-ESDE]].		In addition to a significant upgrade of its positioning products, in COMP4DRONES ACORDE is also aiming the improvement of its productivity on the modelling, design, implementation and validation procedures of these type of systems [[WP6-ESDE]].

	==~~Current~~ Status==		==Status after C4D==

	So far, ACORDE has advanced in parallel in all the afore mentioned tasks. The current advance can be summarized as follows:		So far, ACORDE has advanced in parallel in all the afore mentioned tasks. The current advance can be summarized as follows:

Acorde: /* Design and Implementation */

2022-09-29T00:04:43Z

Design and Implementation

← Older revision		Revision as of 00:04, 29 September 2022
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	==Design and Implementation==		==Design and Implementation==

	As well as the significant improvements in low-cost position and attitude estimation i.e., GLAD+, in COMP4DRONES, ACORDE ~~is making progress~~ towards a qualitative enhancement of its design procedures. ~~This piece of work is in direct relation to WP6 activities.~~		As well as the significant improvements in low-cost position and attitude estimation i.e., GLAD+, in COMP4DRONES, ACORDE has progressed towards a qualitative enhancement of its design procedures. See more details in [[WP6-ESDE]].

	See more details in [[WP6-ESDE]].

Acorde: /* Design and Implementation */

2022-09-28T23:53:50Z

Design and Implementation

← Older revision		Revision as of 23:53, 28 September 2022
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	==Design and Implementation==		==Design and Implementation==

	As well as the significant improvements ~~regarding GLAD, which are leading to a new improved~~ low-cost ~~geo-referenced~~ position&attitude estimation ~~system,~~ i.e., GLAD+, in COMP4DRONES, ACORDE is making progress towards a qualitative enhancement of its design procedures. This piece of work is in direct relation to WP6 activities.		As well as the significant improvements in low-cost position and attitude estimation i.e., GLAD+, in COMP4DRONES, ACORDE is making progress towards a qualitative enhancement of its design procedures. This piece of work is in direct relation to WP6 activities.

	~~[[File:wp3-15_2_04.png\|frame\|center\| Design flow followed by ACORDE for its outdoor geo-referenced position&attitude estimation systems]]~~		See more details in [[WP6-ESDE]].

	Figure above shows the development methodology that ACORDE is applying for its georeferenced outdoor positioning systems. The methodology is relatively conventional in its two bottom layers. ACORDE has long expertise in platform development, which includes PCB design, mechanical design, drivers’ development. ACORDE also has experience on embedded application development. GLAD, and so GLAD+ were and are developed in C/C++, on a microcontroller targeted cross-development environment, and relying on a GUI based environment (Visual Studio or Eclipse). On top of these two layers, ACORDE develops and tries different versions of the positioning algorithms by using a Matlab model. This model is fed with raw data logged on captures taken on integration tests and real flights. Additional Matlab scripts serve to test and compare output results.

	Yet, this design flow is improvable in many aspects and, as mentioned before, ACORDE is working in COMP4DRONES in an alternative design environment, for better productivity in embedded system design and development, specifically suited to positioning systems, and call ESDE (see more details in [[WP6-ESDE]])

Acorde at 08:27, 25 March 2022

2022-03-25T08:27:50Z

← Older revision		Revision as of 08:27, 25 March 2022
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	==Detailed Description==		==Detailed Description==

	GLAD+ is an improved version of its predecessor GLAD (GNSS-based Low-Cost position and Attitude Determination system).		GLAD+ is a significantly improved version of its predecessor GLAD (GNSS-based Low-Cost position and Attitude Determination system).
	It is specifically oriented to provide drones quality navigation information (position, velocity and attitude) at a reduced cost in challenged outdoor scenarios. Drone scenarios expose position/attitude estimation systems to challenging conditions (e.g., shadows, more challenging dynamics than land-vehicles, calibration constraints), and stringent cost, size and weight requirements. As GLAD, GLAD+ is a “complete” solution from ACORDE, in the sense that ACORDE performs both application and platform design and development (including a COTS based HW design).		It is specifically oriented to provide drones quality navigation information (position, velocity and attitude) at a reduced cost in challenged outdoor scenarios. Drone scenarios expose position/attitude estimation systems to challenging conditions (e.g., shadows, more challenging dynamics than land-vehicles, calibration constraints), and stringent cost, size and weight requirements. As GLAD, GLAD+ is a “complete” solution from ACORDE, in the sense that ACORDE performs both application and platform design and development (including a COTS based HW design).

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	</imagemap>		</imagemap>

	The above figure sums up the contributions and improvements in GLAD+~~, from GLAD~~, enabled by ACORDE activity in COMP4DRONES:		The above figure sums up the contributions and improvements in GLAD+, enabled by ACORDE activity in COMP4DRONES, taking GLAD as a baseline:

	* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.		* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.

Acorde: /* Design and Implementation */

2022-03-25T08:25:23Z

Design and Implementation

← Older revision		Revision as of 08:25, 25 March 2022
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	Figure above shows the development methodology that ACORDE is applying for its georeferenced outdoor positioning systems. The methodology is relatively conventional in its two bottom layers. ACORDE has long expertise in platform development, which includes PCB design, mechanical design, drivers’ development. ACORDE also has experience on embedded application development. GLAD, and so GLAD+ were and are developed in C/C++, on a microcontroller targeted cross-development environment, and relying on a GUI based environment (Visual Studio or Eclipse). On top of these two layers, ACORDE develops and tries different versions of the positioning algorithms by using a Matlab model. This model is fed with raw data logged on captures taken on integration tests and real flights. Additional Matlab scripts serve to test and compare output results.		Figure above shows the development methodology that ACORDE is applying for its georeferenced outdoor positioning systems. The methodology is relatively conventional in its two bottom layers. ACORDE has long expertise in platform development, which includes PCB design, mechanical design, drivers’ development. ACORDE also has experience on embedded application development. GLAD, and so GLAD+ were and are developed in C/C++, on a microcontroller targeted cross-development environment, and relying on a GUI based environment (Visual Studio or Eclipse). On top of these two layers, ACORDE develops and tries different versions of the positioning algorithms by using a Matlab model. This model is fed with raw data logged on captures taken on integration tests and real flights. Additional Matlab scripts serve to test and compare output results.

			Yet, this design flow is improvable in many aspects and, as mentioned before, ACORDE is working in COMP4DRONES in an alternative design environment, for better productivity in embedded system design and development, specifically suited to positioning systems, and call ESDE (see more details in [[WP6-ESDE]])

Acorde: /* Design and Implementation */

2022-03-25T08:19:26Z

Design and Implementation

← Older revision		Revision as of 08:19, 25 March 2022
Line 89:		Line 89:

	Figure above shows the development methodology that ACORDE is applying for its georeferenced outdoor positioning systems. The methodology is relatively conventional in its two bottom layers. ACORDE has long expertise in platform development, which includes PCB design, mechanical design, drivers’ development. ACORDE also has experience on embedded application development. GLAD, and so GLAD+ were and are developed in C/C++, on a microcontroller targeted cross-development environment, and relying on a GUI based environment (Visual Studio or Eclipse). On top of these two layers, ACORDE develops and tries different versions of the positioning algorithms by using a Matlab model. This model is fed with raw data logged on captures taken on integration tests and real flights. Additional Matlab scripts serve to test and compare output results.		Figure above shows the development methodology that ACORDE is applying for its georeferenced outdoor positioning systems. The methodology is relatively conventional in its two bottom layers. ACORDE has long expertise in platform development, which includes PCB design, mechanical design, drivers’ development. ACORDE also has experience on embedded application development. GLAD, and so GLAD+ were and are developed in C/C++, on a microcontroller targeted cross-development environment, and relying on a GUI based environment (Visual Studio or Eclipse). On top of these two layers, ACORDE develops and tries different versions of the positioning algorithms by using a Matlab model. This model is fed with raw data logged on captures taken on integration tests and real flights. Additional Matlab scripts serve to test and compare output results.

	This approach has proven to be useful and enables model building/refinement relying on raw sensor data logged at past captures. However, it has also some important disadvantages. One of them is associated to the conventional, sequential HW/SW development. HW platform design and implementation comes before driver development or RTOS port (if required). In turn, HW/SW platform availability is a pre-condition for application development. Once the application is ready, it is possible to evaluate if the performance (timing, memory, energy and power consumption, etc) and validate it. As well as the long latencies involved, the flow adds the risk of late finding of performance bottlenecks that involve a drastic re-design, of hardware in the worst case. To these drawbacks, we need to add the high cost of translation of Matlab models to C/C++ implementation, and the traceability problems generated at the validation time.

	In COMP4DRONES, ACORDE is developing and evaluating a newer approach to overcome those drawbacks. It is sketched in Figure 69. The ESDE framework developed in WP6 [33], is encrusted in at a top level layer, for a system-level approach to embedded software design and development, to encompass the conventional HW/SW platform development capabilities and processes of ACORDE.

	~~[[File:wp3-15_2_05.png\|frame\|center\| System-level methodology for the design and implementation of outdoor geo-referenced position&attitude estimation systems in COMP4DRONES]]~~

	~~Some key aspects of the ESDE flow for productivity improvement are:~~

	* The fast functional models that can be built at the top lever, able to significantly speed-up functional validation vs Matlab model execution.
	* The automated embedded software generation mechanisms that avoid a significant translation effort from the system model to the implementation C/C++ code.
	* The possibility to parallelize of the development of firmware (binary or object file), or very close version of it with HW development, by relying on a high-fidelity virtual platform.
	* The possibility to validate firmware (without availability of the physical platform), eventually using several virtual platforms for test parallelization

Acorde: /* Detailed Description */

2022-03-24T23:56:57Z

Detailed Description

← Older revision		Revision as of 23:56, 24 March 2022
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	* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.		* The design of and improved HW/SW platform for the navigation solutions (WP3-15_1). It includes a new HW platform with improved capabilities on GNSS receivers, and also the assessment of license-free real-time RTOS on top.
	* Enhancement of the navigation software, for adapting it to the new platform and to apply algorithmic improvements, including the assessment of possible AI based improvements (WP4-16).		* Enhancement of the navigation software, for adapting it to the new platform and to apply algorithmic improvements, including the assessment of possible AI based improvements ([[WP4-16]]).
	* Providing support of anti-jamming and anti-spoofing features (WP5-11-ACO).		* Providing support of anti-jamming and anti-spoofing features ([[WP5-11-ACO]]).
	* Providing an improved/extended interface for a smoother integration on drone systems (activity globally associated to WP3, with implications in WP4 and WP5).		* Providing an improved/extended interface for a smoother integration on drone systems (activity globally associated to WP3, with implications in WP4 and WP5).

	More details ~~are given~~ on ~~the links (~~also reachable by clicking them on the figure).		This page gives mostly details on the overal GLAD+ system, and on its SW/HW platform.
			More details on other improvements also reachable by clicking the links to them (also on the clickable figure).
	In addition to a significant upgrade of its positioning products, in COMP4DRONES ACORDE is also aiming the improvement of its productivity on the modelling, design, implementation and validation procedures of these type of systems.

			In addition to a significant upgrade of its positioning products, in COMP4DRONES ACORDE is also aiming the improvement of its productivity on the modelling, design, implementation and validation procedures of these type of systems [[WP6-ESDE]].

	==Current Status==		==Current Status==