Tiira: an Open-Source Hardware-based GNSS Receiver and Multi-sensor Navigation System

This paper introduces Tiira - an open-source hardware-based Global Navigation Satellite Systems (GNSS) receiver and multi-sensor navigation system. Its unique features include system modularity, an openness of software and hardware designs, signal processing running in dedicated soft-core proces-sors supported by an accelerator implemented in hardware logic. The work on the platform is ongoing; this paper describes the overall system, its architecture and structure, design choices and challenges, and the development status. We also provide some preliminary results.