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Applied particle filters in integrated aircraft navigation
Linköping University, Department of Electrical Engineering.
2003 (English)Independent thesis Basic level (professional degree)Student thesisAlternative title
Tillämpning av partickelfilter i integrerad fygplansnavigering (Swedish)
Abstract [en]

Navigation is about knowing your own position, orientation and velocity relative to some geographic entities. The sensor fusion considered in this thesis combines data from a dead reckoning system, inertial navigation system (INS), and measurements of the ground elevation. The very fast dynamics of aircraft navigation makes it difficult to estimate the true states. Instead the algorithm studied will estimate the errors of the INS and compensate for them. A height database is used along with the measurements. The height database is highly non-linear why a Rao-Blackwellized particle filter is used for the sensor fusion. This integrated navigation system only uses data from its own sensors and from the height database, which means that it is independent of information from outside the aircraft.

This report will describe the algorithm and illustrate the theory used. The main purpose is to evaluate the algorithm using real flight data, why the result chapter is the most important.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2003. , 64 p.
Series
LiTH-ISY-Ex, 3406
Keyword [en]
Reglerteknik, Integrated navigation, Inertial navigation, Aircraft navigation, particle filter, Multiple model, Monte Carlo filter, Rao-Blackwellization
Keyword [sv]
Reglerteknik
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-1736OAI: oai:DiVA.org:liu-1736DiVA: diva2:19062
Uppsok
teknik
Available from: 2003-05-19 Created: 2003-05-19

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf