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2 years ago in Robotics By Madhu B

How to transition high-precision GN&C algorithms to real-time, lower-precision implementations?

How can the inherent trade-offs between precision and speed be managed when porting GN&C algorithms to real-time hardware?

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By Vinod D Answered 1 year ago

A general approach involves fidelity reduction: simplifying dynamic models, reducing sensor data rates, and using fixed-point arithmetic. Utilize hardware-in-the-loop (HIL) testing to validate performance loss. FPGA implementation allows parallelizing algorithms to meet real-time constraints while maintaining necessary precision for critical operations through careful quantization and pipeline design.

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