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. / 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. / by Andrew K. Stimac. / S.M.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/16676 |
| Date | January 2004 |
| Creators | Stimac, Andrew K. (Andrew Kenneth), 1977- |
| Contributors | David L. Trumper., Massachusetts Institute of Technology. Dept. of Mechanical Engineering., Massachusetts Institute of Technology. Dept. of Mechanical Engineering. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 162 p., 2423291 bytes, 2423011 bytes, application/pdf, application/pdf, application/pdf |
| Rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission., http://dspace.mit.edu/handle/1721.1/7582 |
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