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Sensor fusion between a Synthetic Attitude and Heading Reference System and GPS / Sensorfusion mellan ett Syntetiskt attityd- och kursreferenssystem och GPS

Sensor fusion deals with the merging of several signals into one, extracting a better and more reliable result. Traditionally the Kalmanfilter is used for this purpose and the aircraft navigation has benefited tremendously from its use. This thesis considers the merge of two navigation systems, the GPS positioning system and the Saab developed Synthetic Attitude and Heading Reference System (SAHRS). The purpose is to find a model for such a fusion and to investigate whether the fusion will improve the overall navigation performance. The non-linear nature of the navigation equations will lead to the use of the extended Kalman filter and the model is evaluated against both simulated and real data. The results show that this strategy indeed works but problems will arise when the GPS signal falls away.

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-1766
Date January 2003
CreatorsRosander, Regina
PublisherLinköpings universitet, Institutionen för systemteknik, Institutionen för systemteknik
Source SetsDiVA Archive at Upsalla University
LanguageEnglish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess
RelationLiTH-ISY-Ex, ; 3408

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