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Sensor Fusion Navigation for Sounding Rocket Applications
Linköping University, Department of Electrical Engineering. Linköping University.
Linköping University, Department of Electrical Engineering. Linköping University.
2008 (English)Independent thesis Advanced level (professional degree), 20 points / 30 hpStudent thesisAlternative title
Navigering med Sensorfusion i en Sondraket (Swedish)
Abstract [en]

One of Saab Space’s products is the S19 guidance system for sounding rockets.Today this system is based on an inertial navigation system that blindly calculatesthe position of the rocket by integrating sensor readings with unknown bias. Thepurpose of this thesis is to integrate a Global Positioning System (GPS) receiverinto the guidance system to increase precision and robustness. There are mainlytwo problems involved in this integration. One is to integrate the GPS with sensorfusion into the existing guidance system. The seconds is to get the GPS satellitetracking to work under extremely high dynamics. The first of the two problems issolved by using an Extended Kalman filter (EKF) with two different linearizations.One of them is uses Euler angles and the other is done with quaternions. Theintegration technique implemented in this thesis is a loose integration between theGPS receiver and the inertial navigation system. The main task of the EKF isto estimate the bias of the inertial navigation system sensors and correct it toeliminate drift in the position. The solution is verified by computing the positionof a car using a GPS and an inertial measurement unit. Different solutions to theGPS tracking problem are proposed in a pre-study.

Abstract [sv]

En av Saab Space produkter är navigationssystemet S19 som styr sondraketer.Fram till idag har systemet varit baserat på ett tröghetsnavigeringssystem somblint räknar ut position genom att integrera tröghetsnavigerinssystemets sensorermed okända biaser. Syftet med detta exjobb är att integrera en GPS med tröghetsnavigeringsystemetför att öka robusthet och precision. Det kan i huvudsak delasupp i två problem; att integrera en GPS-mottagare med det befintliga navigationsystemetmed användning utav sensorfusion, och att få satellitföljningen attfungera under extremt höga dynamiska förhållanden. Det första av de två problemenlöses genom ett Extended Kalman filter (EKF) med två olika linjäriseringar.Den första linjäriseringen är med Eulervinklar och är välbeprövad. Den andra ärmed kvaternioner. Integrationstekniken som implementeras i detta Examensarbeteär en lös integration mellan GPS-mottagaren och tröghetsnavigeringssystemet. Huvudsyftetmed EKF:en är att estimera bias i tröghetsnavigeringsystemets sensoreroch korrigera dem för att eliminera drifter i position. Lösningen verifieras genomatt räkna ut positionen för en bil med GPS och en inertiell mätenhet. Olika lösningartill satellitföljningen föreslås i en förstudie.

Place, publisher, year, edition, pages
2008. , 86 p.
Keyword
EKF, PLL, FLL, GPS, INS, Inertial Navigation, Extended Kalman Filter, Sensor Fusion
National Category
Signal Processing Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-15001ISRN: LiTH-ISY-EX- -08/4009- -SEOAI: oai:DiVA.org:liu-15001DiVA: diva2:37556
Presentation
(English)
Uppsok
teknik
Supervisors
Examiners
Available from: 2008-10-23 Created: 2008-10-07 Last updated: 2008-10-23Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Output format
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