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In this paper, we introduce the design of an IP processor core code-named CUSPARC for Cairo university SPARC processor. This core is a 32 bit pipelined processor that conforms to SPARC v8 ISA. It is complete with 4 register windows, I and D caches, SRAM and flash memory controller, resolution hardware for the data and branch hazards, interrupts and exception handling, instructions to support I/O transfers,...
Presently, Kalman filter (KF) is used to fuse data from both inertial navigation systems (INS) and Global Positioning Systems (GPS) to provide position, velocity and attitude information. However, several drawbacks associated with KF like its immunity to noise, its dependency on predefined errors models, has encouraged research activates towards investigation of other integration techniques. This...
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