Showing papers on "GPS/INS published in 2001"

Navigation system, method and software for foot travel

Abstract: A navigation system (400, 500) for mounting on a human. The navigation system (400, 500) includes one or more motion sensors for sensing motion of the human and outputting one or more corresponding motion signals. An inertial processing unit (430) coupled to one or more of motion sensors (410) determines a first position estimate based on one or more of the corresponding signals from the motion sensors. A distance traveled is determined by a motion classifier (420) coupled to one or more of the motion sensors (410), where the distance estimate is based on one or more of the corresponding motion signals processed in one or more motion models. A Kalman filter (440) is also integrated into the system, where the Kalman filter (440) receives the first position estimate and the distance estimate and provides corrective feedback signals to the inertial processor (430) for the first position estimate. In an additional embodiment, input from a position indicator (510), such as a GPS, provides a third position estimate, and where the Kalman filter (440) provides correction to the first position estimate, the distance estimate and parameters of the motion model being used.

Vision based navigation for an unmanned aerial vehicle

Abstract: We are developing a system for autonomous navigation of unmanned aerial vehicles (UAVs) based on computer vision. A UAV is equipped with on-board cameras and each UAV is provided with noisy estimates of its own state, coming from GPS/INS. The mission of the UAV is low altitude navigation from an initial position to a final position in a partially known 3-D environment while avoiding obstacles and minimizing path length. We use a hierarchical approach to path planning. We distinguish between a global offline computation, based on a coarse known model of the environment and a local online computation, based on the information coming from the vision system. A UAV builds and updates a virtual 3-D model of the surrounding environment by processing image sequences and fusing them with sensor data. Based on such a model the UAV will plan a path from its current position to the terminal point. It will then follow such path, getting more data from the on-board cameras, and refining map and local path in real time.

An outdoor navigation system using GPS and inertial platform

Abstract: The use of the Global Positioning System (GPS) in outdoor localization is a quite common solution in large environments where no other references are available and positioning requirements are not so pressing. Of course, fine motion without the use of an expensive differential device is not an easy task even now that available precision has been greatly improved as the military encoding has been removed. We present a localization algorithm based on Kalman filtering that tries to fuse information coming from an inexpensive single GPS with inertial and, sometimes uncertain, map based data. The algorithm is able to produce an estimated configuration for the robot that can be successfully fed back in a navigation system, leading to a motion whose precision is only related to current information quality. Some experiments show difficulties and possible solutions to this sensor fusion problem.

A nonlinear observer for GPS and INS integration

Abstract: GPS and Inertial Navigation Systems (INS) have complementary properties, and they are therefore well suited for integration. The integrated solution offers better long term accuracy than a stand-alone INS, and better integrity, availability and continuity than a stand-alone GPS receiver, making it suitable for demanding applications. The integration filter is nonlinear both in state and measurements, and the extended Kalman-filter has been used with good results, but it has not been proven globally stable, and it is also computationally intensive, especially within a direct integration architecture. In this work a nonlinear observer suitable for direct integration, due to no covariance update equations, is presented. Global exponential stability of the origin of the combined attitude and velocity error systems is proven.

Method and apparatus for time-free processing of GPS signals

Abstract: A method and apparatus for computing GPS receiver (108) position without using absolute time information transmitted by the satellite or by an alternative source of timing available at the GPS receiver. The GPS receiver is contained in an integrated receiver that also includes a wireless communication transceiver (112), but does not have access to an accurate source of absolute time information. The wireless transceiver communicates through a wireless network (150) to a server (121). The GPS receiver measures satellite pseudoranges and uses the wireless communication transceiver to send the pseudoranges to the server. The server fits the pseudoranges to a mathematical model on which the GPS receiver position and the absolute time are unknown parameters. The server then computes a position and absolute time that best fit the model, thus yielding the correct position for the GPS receiver, and the absolute time at which the pseudorange measurements were made.

Fast acquisition of GPS signal

Abstract: Upon reception of four GPS signals from GPS satellites and determining four pseudo ranges, along with ephemeris data previously stored in the GPS receiver, the location of the GPS receiver and real time clock time error is determined. The GPS receiver is in possession of four pseudo ranges and determines four unknown coordinate values (x, y, x, and time) identifying the location of the GPS receiver and real time clock error. The process of solving for four pseudo range formulas simultaneously with each pseudo range formula having an unknown “x”, “y” “z”, and time coordinates of the GPS receiver, results in identification of the coordinates and time of the GPS receiver. In a similar process, the GPS receiver receiving four GPS signals from four GPS satellites is able to determine four pseudo ranges. Using the four pseudo ranges, four pseudo range equations unknown values for “x”, “y”, “z” and time can be solved for simultaneously. The resulting values are then used to verify that the calculated positions of the GPS satellites are within 0.5 ms of the previous solution. If the GPS satellites are within 0.5 ms range of the prior solution then the real time clock error is estimated. Thus, using ephemeris data, the location of the GPS receiver is determined in a fraction of the time it takes to acquire the GPS satellites using conventional approaches.

Road Reduction Filtering for GPS‐GIS Navigation

Abstract: A novel method of map matching using the Global Positioning System (GPS) has been developed for civilian use, which uses digital mapping data to infer the systematic position errors of less than 100m which result largely from ‘selective availability’ (S/A) imposed by the US military. Selective availability was switched off on the 2nd of May 2000, and is to be replaced with ‘regional denial capabilities in lieu of global degradation’. The system tracks a vehicle on all possible roads (road centre-lines) in a computed error region, then uses a method of rapidly detecting inappropriate road centre-lines from the set of all those possible. This is called the Road Reduction Filter (RRF) algorithm. Point positioning is computed using C/A code pseudorange measurements direct from a GPS receiver. The least squares estimation is performed in the software developed for the experiment described in this paper. Virtual differential GPS (VDGPS) corrections are computed and used from a vehicle's previous positions, thus providing an autonomous alternative to DGPS for in-car navigation and fleet management. Height aiding is used to augment the solution and reduce the number of satellites required for a position solution. Ordnance Survey (OS) digital map data was used for the experiment, i.e. OSCAR 1 m resolution road centre-line geometry and Land Form PANORAMA 1:50,000, 50 m-grid digital terrain model (DTM). Testing of the algorithm is reported and results are analysed. Vehicle positions provided by RRF are compared with the ‘true’ position determined using high precision (cm) GPS carrier phase techniques. It is shown that height aiding using a DTM and the RRF significantly improve the accuracy of position provided by inexpensive single frequency GPS receivers.

Adaptive fuzzy-network-based C-measure map-matching algorithm for car navigation system

Abstract: Most car navigation systems estimate the car position from dead reckoning and the Global Positioning System (GPS). However, because of the unknown GPS noise, the estimated position has an undesirable error. To solve this problem, a map-matching method is introduced, which uses a digital road map to correct the position error. In this paper, a novel adaptive-fuzzy-network-based C-measure algorithm is proposed, which can find the exact road on which a car moves. The C-measure algorithm is easy to calculate, and calculation time does not increase exponentially with the increase of junctions. For the experiments, a car navigation system is implemented with a small number of sensors. The real road experiments demonstrate the effectiveness and applicability of the proposed algorithm and the developed car navigation system.

Resolving time ambiguity in GPS using over-determined navigation solution

Abstract: The invention describes methods and apparatuses for determining a user position based on a minimization of the errors introduced into the GPS system because of clock bias, noise, multipath, or other uncertainties. By overdetermining position, for example, clock biases can be removed from the system.

Digital image georeferencing from a multiple camera system by GPS/INS

Abstract: In this paper, the development and testing of an airborne fully digital multi-sensor system for digital mapping data acquisition is presented. The system acquires two streams of data, namely, navigation (georeferencing) data and imaging data. The navigation data are obtained by integrating an accurate strapdown inertial navigation system with a differential GPS system (DGPS). The imaging data are acquired by two low-cost digital cameras, configured in such a way so as to reduce their geometric limitations. The two cameras capture strips of overlapping nadir and oblique images. The GPS/INS-derived trajectory contains the full translational and rotational motion of the carrier aircraft. Thus, image exterior orientation information is extracted from the trajectory, during post-processing. This approach eliminates the need for ground control (GCP) when computing 3D positions of objects that appear in the field of view of the system imaging component. Two approaches for calibrating the system are presented, namely, terrestrial calibration and in-flight calibration. Test flights were conducted over the campus of The University of Calgary. Testing the system showed that best ground point positioning accuracy at 1:12,000 average image scale is 0.2 m (RMS) in easting and northing and 0.3 m (RMS) in height. Preliminary results indicate that major applications of such a system in the future are in the field of digital mapping, at scales of 1:5000 and smaller, and in the generation of digital elevation models for engineering applications.

Robust localization algorithms for an autonomous campus tour guide

Abstract: This paper describes a robust localization method for an outdoor robot that gives tours of the Rice University campus. The robot fuses odometry and GPS data using extended Kalman filtering. We propose and experimentally test a technique for handling two types of nonstationarity in GPS data quality: abrupt changes in GPS position readings caused by sudden obstructions to line of sight access to satellites, and more gradual changes caused by disparities in atmospheric conditions. We construct measurement error covariance matrices indexed by number of visible satellites and switch them into the localization computation automatically. The matrices are built by sampling GPS data repeatedly along the route and are updated continuously to handle drift in GPS data quality. We demonstrate that our approach performs better than extended Kalman filters that use only a single error covariance matrix. With a GPS receiver that delivers 1 meter accuracy, we have been able to localize to 40 cm through a challenging route in the Engineering Quadrangle of Rice University.

Filtering mechanization method of integrating global positioning system receiver with inertial measurement unit

Abstract: A filtering mechanization method is provided for integrating a Global positioning System receiver with an Inertial Measurement Unit to produce highly accurate and highly reliable mixed GPS/IMU position, velocity, and attitude information of a carrier. The GPS filtered position and velocity data are first individually used as measurements of the two local filters to produce estimates of two sets of the local state vector. Then, the estimates of the two sets of local state vectors are mixed by a master filter device to produce global optimal estimates of master state vector including INS (Inertial Navigation System) navigation parameter errors, inertial sensor errors, and GPS correlated position and velocity errors. The estimates of the two sets of local state vector and master state vector are analyzed by a GPS failure detection/isolation logic module to prevent the mixed GPS/IMU position, velocity, and attitude information from becoming contaminated by undetected GPS failures.

Design of gyroscope-free navigation systems

Abstract: We examine the feasibility of designing a gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body. The accelerometer output equation is derived to relate the linear and angular motions of a rigid body relative to a fixed inertial frame. A sufficient condition is given to determine if a configuration of accelerometers is feasible. If the condition is satisfied, the angular and linear motions can be computed separately using two decoupled equations of an input-output (I/O) dynamical system; a state equation for angular velocity and an output equation for linear acceleration. This simple computation scheme is derived from the corresponding dynamical system equations for a special cube configuration for which the angular acceleration is expressed as a linear combination of the accelerometer outputs.

Integrated GPS/IMU method and microsystem thereof

Abstract: An integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) method and MicroSystem is disclosed, wherein data from an IMU, a MEMS IMU preferred, a GPS chipset, and an earth magnetic field detector are mixed in a mixed GPS/IMU/Magnetic Data microprocessor to achieve a low cost, micro size, and low power consumption mixed GPS/IMU/magnetic position, velocity, and attitude solution. Furthermore, to deal with sensitivity of the MEMS inertial sensors to environment temperature, a temperature based scheduler, error estimator, and a current acting error estimator are co-operated to minimize the mismatching between the filter system modules and the actual ones due to change of environment temperature, so that the system of the present invention can provide high performance and stable navigation solution over a wide range of environment temperature.

A new approach for airborne vector gravimetry using GPS/INS

Abstract: A new method for airborne vector gravimetry using GPS/INS has been developed and the results are presented. The new algorithm uses kinematic accelerations as updates instead of positions or velocities, and all calculations are performed in the inertial frame. Therefore, it is conceptually simpler, easier, more straightforward and computationally less expensive compared to the traditional approach in which the complex navigation equations should be integrated. Moreover, it is a unified approach for determining all three vector components, and no stochastic gravity modeling is required. This approach is based on analyzing the residuals from the Kalman filter of sensor errors, and further processing with wavenumber coefficient filterings is applied in case closely parallel tracks of data are available. An application to actual test-flight data is performed to test the validity of the new algorithm. The results yield an accuracy in the down component of about 3–4 mGal. Also, comparable results are obtained for the horizontal components with accuracies of about 6 mGal. The gravity modeling issue is discussed and alternative methods are presented, none of which improves on the original approach.

Micro integrated global positioning system/inertial measurement unit system

Abstract: A micro integrated Global Positioning System (GPS)/Inertial Measurement Unit (IMU) System, which is adapted to apply to output signals proportional to rotation and translational motion of a carrier and GPS measurements of the carrier, respectively from angular rate sensors, acceleration sensors, and GPS chipset, is employed with MEMS angular rate and acceleration sensors and GPS chipset. Compared with a conventional IMU/GPS system, the system of the present invention uses an integrated processing scheme by means of digital closed loop control of the dither driver signals for MEMS angular rate sensors, a feedforward open-loop signal processing scheme of the IMU, digital temperature control and compensation, the earth's magnetic field-based heading damping, robust error estimator, and compact sensor and circuit architecture and dramatically shrinks the size of mechanical and electronic hardware and power consumption, meanwhile, obtains highly accurate motion measurements.

Low-Cost INS/GPS Integration: Concepts and Testing

Abstract: The high cost of inertial units is the main obstacle for their inclusion in precision navigation systems to support a variety of application areas. Standard inertial navigation systems (INS) use precise gyro and accelerometer sensors; however, newer inertial devices with compact, lower precision sensors have become available in recent years. This group of instruments, called motion sensors, is six to eight times less costly than a standard INS. Given their weak stand-alone accuracy and poor run-to-run stability, such devices are not usable as sole navigation systems. Even the integration of a motion sensor into a navigation system as a supporting device requires the development of non-traditional approaches and algorithms. The objective of this paper is to assess the feasibility of using a motion sensor, specifically the MotionPak, integrated with DGPS and DGLONASS information, to provide accurate position and attitude information, and to assess its capability to bridge satellite outages for up to 20 seconds. The motion sensor has three orthogonally mounted solid-state' micromachined quartz angular rate sensors, and three high performance linear servo accelerometers mounted in a compact, rugged package. Advanced algorithms are used to integrate the GPS and motion sensor data. These include INS error damping, calculated platform corrections using DGPS (or DGPS/DGLONASS) output, velocity correction, attitude correction and error model estimation for prediction. This multi-loop algorithm structure is very robust, which guarantees a high level of software reliability. Vehicular and aircraft test trials were conducted with the system and the results are discussed. Simulated outages in GPS availability were made to assess the bridging accuracy of the system. Results show that a bridging accuracy of up to 3 m after 10 seconds in vehicular mode and a corresponding accuracy of 6 m after 20 seconds in aircraft mode can be obtained, depending on vehicle dynamics and the specific MotionPak unit used. The attitude accuracy was on the order of 22 to 25 arcmin for roll and pitch, and about 44 arcmin for heading.

DGPS/INS integrated positioning for control of automated vehicle

Abstract: In recent years, the Global Positioning System (GPS) has solidified its presence as a dependable means of navigation by providing absolute positioning in various applications. While GPS alone can provide position information, it has several weaknesses, such as low data output rate and vulnerability to external disturbances. We explore the feasibility of an integrated positioning system using a differential GPS (DGPS) and an inertial navigation system (INS) for the control of an automated vehicle. An extended Kalman filter which combines the measurements from the DGPS, INS, and vehicle sensors to produce estimates of various vehicle states is derived. A methodology which, using map data, converts position measurements to vehicle lateral offset and desired speed, as applicable for the control of an automated vehicle, is presented. An analysis of the overall closed-loop vehicle control system is discussed. Finally, the performance of the proposed control scheme is examined through field tests conducted on two different vehicle platforms, an automated golfcart and a drive-by-wire Honda Accord sedan.

Low complexity anti-jam space-time processing for GPS

Abstract: This paper investigates the performance of reduced rank spacetime processors in the context of anti-jam mitigation for an M-code based GPS receiver utilizing a circular array. Several adaptive processing algorithms are discussed utilizing power minimization techniques. It is assumed an INS (inertial navigation system) or direction finding algorithm is incorporated into the receiver for satellite look direction based algorithms. Reduced rank space-time processing is accomplished via the innovative multistage Wiener filter (MSWF). It is demonstrated that the MSWF does not require matrix inversion, thereby reducing computational complexity. The processing algorithms are compared in terms of available degrees of freedom and distortion of the GPS cross correlation function (CCF).

Location of radio frequency emitting targets

Abstract: A method is described which enables the location of a radio frequency emitting target in absolute or relative GPS coordinates from a single airborne platform within a few seconds. The method uses a signal processing technique which emulates an antenna moving at very high velocities to induce a Virtual Doppler shift on signals incident upon a linear antenna array. The Virtual Doppler shift is directly proportional to the signal direction of arrival as measured by its direction cosine. The method is shown to prevent single and multiple GPS jammers from being able to jam conventional GPS signals. Also disclosed is a means and method for developing virtual Doppler shifted signals to determine the angle-angle bearing of emitting targets to high resolution. This in turn, allows the position of the emitter to be determined in a GPS reference frame to be located to a high degree of accuracy from a single platform in extremely short times. The ultra-high precision direction-find capability requires the ability to determine the direction cosines of GPS satellite signals incident upon the detecting air vehicle and provides GPS anti-jam capability as a derivative of the definition of the direction finding.

GPS receiver and GPS position measurement method

Abstract: A GPS receiver is disclosed wherein GPS position measurement can be performed stably and rapidly without the necessity to wait for periodical time information from a GPS satellite and power consumption is minimized also with a minimized position measurement time through the selection of an optimum time interval between intermittent receptions of GPS signals. The GPS receiver includes a GPS block for performing position measurement based on a signal transmitted from a GPS satellite to update a navigation message and repeating standby and startup thereof, an external clock block for holding frequency information and time information of a high accuracy and outputting a start signal to the GPS block, which is in a standby state, based on the frequency information and the time information held therein, and a frequency measurement block for measuring a frequency offset which is a displacement of a frequency oscillator of the GPS block with reference to the frequency information held in the external clock block and outputting information of the measured frequency offset to the external clock block.

Development of an INS/GPS Navigation Loop for an UAV

Abstract: This master thesis report presents the developement of an INS/GPS navigation loop written in ANSI C++ using a standard matrix library. The filter have been tested on an Unmanned Aerial Vehicle (UAV) called Brumby. Here data have been logged from the Inertial Measurement Unit (IMU) and the Global Positioning System (GPS) receiver. This data have then been postprocessed and run through the navigation filter for estimation of position, attitude and velocity of the vehicle during the flights. The error feedback to the Inertial Navigation System (INS) is done with a complement filter implemented using a kalman filter written in information form.The resulting navigation filter estimates the attitude within two degrees with 95% confidence and the position within two meter using 95% confidence.

Track model constraint for gps position

Abstract: A track model is created for use with a GPS receiver. In one embodiment, the track model is a set of planar surfaces [Fig. 1, item 170] which approximate the contiguous surface on which navigation takes place [item 160]. The GPS receiver searches for an appropriate planar surface associated with its approximate position [item 166]. Having found the appropriate planar surface, the GPS receiver constrains its position using the planar surface associated with its approximate position. Using the track model improves the accuracy of the computed position at the time and improves the ambiguity estimation process so that positions with greatly improved accuracy are available sooner.

Two Different Approaches for Augmented GPS Pedestrian Navigation

Abstract: This paper present the calibration of the different models used for pedestrian navigation. Information on travelled distance and azimuth sensed by inertial sensors is merged with GPS observation through Kalman filtering. All models use GPS positions without differential corrections to calibrate systematic errors present in inertial sensors.

GPS receiver using coarse orbital parameters for achieving a fast time to first fix

Abstract: A GPS receiver having a fast time to first fix by comparing measured range rates for GPS satellites to GPS satellite velocities that are calculated from coarse GPS satellite orbital parameters. The coarse GPS satellite parameters are GPS almanac parameters or GPS ephemeris parameters that are older than the GPS-specified curve fit interval. The GPS receiver includes a satellite velocity calculator and a satellite line-of-sight calculator using the coarse GPS satellite orbital parameters previously stored in memory for calculating GPS satellite velocities and unit vectors to GPS satellites, respectively; a range rate measurer using GPS signal carrier measurements for determining range rates to GPS satellites; a user velocity calculator using the satellite velocities, unit vectors, and range rates for calculating a user velocity; and a user location integrator for integrating the user velocity from the last user location for a first location fix. Optionally, the user velocity calculator provides user direction information that can be used for initializing an inertial navigation device.

Global positioning system roadside integrated precision positioning system

Abstract: A real-time integrated navigation system for a vehicle includes a GPS receiver, connected to a first antenna, where the GPS receiver receives GPS data from satellites and outputs GPS position data. The system also includes a communications link, connected to a second antenna and to the GPS receiver, receiving range and carrier phase measurements from at least one base station. The system further includes navigation aids which provide relative position data of said vehicle and a Kalman filter, connected to the output of the GPS receiver and the navigation aids, that integrates the GPS position data and the relative position data and outputs smoothed position data. The smoothed position data is used in transportation applications, especially detection of lane departure. This GPS-based positioning system is suitable for highway speeds during all weather conditions.

Position location of multiple transponding platforms and users using two-way ranging as a calibration reference for GPS

Abstract: A method and system for using two-way ranging navigation to accurately determine the location of a transponder platform above-Earth or a fixed or mobile target on the ground or on water. The two-way ranging navigation measurements are used as calibration references, thereby improving the positioning accuracy of GPS. The system includes GPS and a two-way ranging navigation system for taking position measurements of a target. A correction factor is determined as a function of the measurements and the GPS position is adjusted by the correction factor. The method for calibrating GPS using two-way ranging navigation involves taking a two-way ranging navigation measurement and a GPS measurement of a target, determining a correction factor as a function of the measurements, and correcting the GPS position by taking a second GPS measurement and adjusting it by the correction factor.

GPS receiving system

Abstract: A global positioning system (GPS) receiving system which achieves an equivalent synchronization in time measurement of GPS signals utilizing software without requiring highly accurate synchronization for receiver clocks with time information embedded in the GPS signals. The GPS receiving system performs a relative navigation process after correcting a pseudorange with a time tag error which is attributable to inaccuracy of receiver clocks of first and second moving objects. A relative navigation process correcting an absolute error of a time tag with a clock bias is also described. A differential computation unit calculates a difference between the first pseudorange and the second pseudorange commonized by the time tag commonizing unit. Correction in a time tag error correction unit is performed for the selected GPS data with a common GPS satellite identification number.

Method for improving vehicle positioning in a navigation system

Abstract: A method implemented on a navigation system in a vehicle for determining the position of the vehicle relative to a road network. The navigation system uses a geographic database that contains data that represent positions of roads upon which the vehicle travels. Using the output from a GPS system, and optionally outputs from other sensors, the navigation system matches the positions of the vehicle to the locations of the roads represented by the data contained in the geographic database. Upon detecting an event from which the position of the vehicle with respect to the roads represented by the data contained in the geographic database can be determined with a relatively high degree of accuracy, a correction factor is determined. The correction factor is an offset (i.e., a distance and direction) of the GPS position reported during the event to the known-to-be-highly-accurate position. The correction factor is then used to adjust subsequently obtained GPS readings for a limited period of time, i.e., while the same atmospheric conditions apply. This period of time may be 10-20 minutes.

GPS/INS/Pseudolite Integration: Concepts, Simulation and Testing

Abstract: Traditionally, Inertial Navigation Systems (INS) provide positioning and attitude information for the guidance (and perhaps control) of a wide range of moving platforms in the air, at sea, or on the ground. However, the time- dependent growth of systematic errors is a major concern in INS applications. Precise satellite measurements are ideally suited for the calibration of INS systematic errors. Therefore, integrated INS and GPS (and/or Glonass) sys- tems have been developed, which can provide high-rate precise positioning and attitude information. The major drawback of existing systems is that their per- formance decreases under difficult operational conditions, for example when satellite signals are obstructed for ex- tended periods of time. In the worst situations, such as underground and inside buildings, the satellite signals may be completely lost. In circumstances where satellite signals are unavailable, it may be possible to maintain availability of range measurements for use in calibrating the INS systematic errors by placing 'pseudo-satellites' (pseudolites) at appropriate locations. Thus, an augmen- tation of existing systems with ranging signals from ground-based pseudolites would result in a new design that could address the problems of signal availability. In fact, integrated GPS/INS/Pseudolite systems are, in prin- ciple, an ideal option for seamless indoor-outdoor posi- tioning and attitude determination. This paper discusses the concept of GPS/INS/Pseudolite integration in detail. Both system performance simulation and experimental results are presented to demonstrate the feasibility of such an integrated system.