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. / <p>Validerat; 20101217 (root)</p>
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:ltu-56527 |
| Date | January 2000 |
| Creators | Rönnbäck, Sven |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
Page generated in 0.0128 seconds