Sensor fusion between a Synthetic Attitude and Heading Reference System and GPS
Independent thesis Basic level (professional degree)Student thesisAlternative title
Sensorfusion mellan ett Syntetiskt attityd- och kursreferenssystem och GPS (Swedish)
Sensor fusion deals with the merging of several signals into one, extracting a better and more reliable result. Traditionally the Kalmanfilter is used for this purpose and the aircraft navigation has benefited tremendously from its use. This thesis considers the merge of two navigation systems, the GPS positioning system and the Saab developed Synthetic Attitude and Heading Reference System (SAHRS). The purpose is to find a model for such a fusion and to investigate whether the fusion will improve the overall navigation performance. The non-linear nature of the navigation equations will lead to the use of the extended Kalman filter and the model is evaluated against both simulated and real data. The results show that this strategy indeed works but problems will arise when the GPS signal falls away.
Place, publisher, year, edition, pages
Institutionen för systemteknik , 2003. , 102 p.
Reglerteknik, Navigation, Aircraft navigation, Sensor fusion, Kalman filters, Extended Kalman filters, GPS
IdentifiersURN: urn:nbn:se:liu:diva-1766OAI: oai:DiVA.org:liu-1766DiVA: diva2:19092