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Developement of a INS/GPS navigation loop for an UAV
2000 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This master thesis report presents the developement of an INS/GPS navigation loop written in ANSI C++ using a standard matrix library. The filter have been tested on an Unmanned Aerial Vehicle (UAV) called Brumby. Here data have been logged from the Inertial Measurement Unit (IMU) and the Global Positioning System (GPS) receiver. This data have then been postprocessed and run through the navigation filter for estimation of position, attitude and velocity of the vehicle during the flights. The error feedback to the Inertial Navigation System (INS) is done with a complement filter implemented using a kalman filter written in information form.The resulting navigation filter estimates the attitude within two degrees with 95% confidence and the position within two meter using 95% confidence.

Place, publisher, year, edition, pages
Keyword [en]
Technology, Unmanned Aerial Vehicle, Inertial Measuring Unit, Inertial Navigation System, Information, Filter, Navigation, Realtime, C++, Autonomous
Keyword [sv]
URN: urn:nbn:se:ltu:diva-56527ISRN: LTU-EX--00/081--SELocal ID: d4af1a88-9d4b-48eb-ac0d-8c182dfd3b58OAI: diva2:1029914
Subject / course
Student thesis, at least 30 credits
Educational program
Civil Engineering programmes 1997-2000, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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