Navigation is important in a variety of aerospace applications, and commonly uses a blend of GPS and inertial sensors. In this thesis, a navigation system is designed, developed, and tested. Several alternatives are discussed, but the ultimate design is a loosely-coupled Extended Kalman Filter using rigid body dynamics as the process with a small angle linearization of quaternions. Simulations are run using real flight data. A bench top hardware prototype is tested. Results show good performance and give a variety of insights into the design of navigation systems. Special attention is given to convergence and the validity of linearization.


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    Title :

    Precision navigation for aerospace applications



    Publication date :

    2004


    Size :

    162 pages , 2423291 byte , 2423011 byte


    Remarks:

    Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
    Vita.
    Includes bibliographical references (p. 162). Includes bibliographical references (p. 162).
    This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English





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