En simuleringsmiljö för distribuerad navigering
Independent thesis Basic level (professional degree)Student thesisAlternative title
A simulation environment for distributed navigation (English)
This master thesis studies distributed navigation which isa function implemented in a future network based combat information system to improve the accuracy in navigation for combat vehicles in a mechanized battalion, above all in the event of loss of GPS. In the event of loss of the GPS the vehicles obtain dead reckoning performance through the backup system that consists of an odometer and a magnetic compass. Dead reckoning means a drift in the position that makes the accuracy in the navigation worse.
The distributed navigation function uses position and navigation data with measurements between the vehicles to estimate the errors and uncertainties in positions, which are used to improve the accuracy in position for the vehicles.
To investigate and demonstrate distributed navigation, a simulation environment has been produced in Matlab. The environment is general so different navigation systems can be used and studied and also dynamical so a further development is possible.
The simulation environment has been used to investigate and evaluate an implementation of distributed navigation. The implementation has been made using a central filter where fusion takes place of all navigation data and measurements. This filter has been realized with help of Kalman filter theory, in which all vehicles are put together in a state space model. Simulations have been performed for different scenarios and the result of these show that the drift in position is avoided.
Place, publisher, year, edition, pages
Institutionen för systemteknik , 2002. , 58 p.
Reglerteknik, Navigation, Estimation, Kalman filter
IdentifiersURN: urn:nbn:se:liu:diva-1378OAI: oai:DiVA.org:liu-1378DiVA: diva2:18701