Precision navigation for aerospace applications
Author(s)Stimac, Andrew K. (Andrew Kenneth), 1977-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
David L. Trumper.
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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.
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.
DepartmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology