Research Article
Design and Real-Time Implementation of a 3-Stage CnW Heading System on an Ubuntu Linux-Embedded Board
| Thread 1 - main thread for sensor fusion system; | | Thread 2 - poll data, execute CnW-S1 and then FAz on GPS#1; | | Thread 3 - poll data, execute CnW-S1 and then FAz on GPS#2; | | Thread 4 - poll data, execute CnW-S1 and then FAz on GPS#3; | | Thread 5 - poll data from EC; | | Thread 6 - execute CnW-S2; | | Thread 7 - poll data from IMU; | | Thread 8 - execute EKF on data from GPS#1 and IMU; | | Thread 9 - execute EKF on data from GPS#2 and IMU; | | Thread 10 - execute EKF on data from GPS#3 and IMU; | | Thread 11 - execute CnW-S3 on data from EKF#1, EKF#2, and EKF#3 |
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