Loading...

Design and Real-time Code-in-the-Loop Implementation of a Cooperative Inertial Navigation Algorithm

Zarein, Mohammad Ghasem | 2012

425 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42593 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. In this study, the cooperative inertial navigation systems are used to prevent the error growth of the inertial navigation system in unmanned aerial vehicles that fly in group. Here, the navigation problem is defined for a group of unmanned vehicles, flying with full six degrees of freedom and the objective is to estimate the navigation information of all cooperators. Due to the nonlinear equations, the decentralized extended Kalman filter is used to estimate the states of the system. This means that there is a Kalman filter in each vehicle. The inputs of this filter are the range and the bearing angles between the vehicle and the cooperators, the estimated position of the cooperators and the pressure altitude, measured by a barameter, and the outputs are the corrected navigation information of the vehicle. Although, the use of the estimated positions of the cooperators decreases the drifts, it can not completely be eliminated. Therefore, a limited number of landmarks with known positions are used, too. Finally, an experimental setup is developed for the real-time code-in-the-loop simulation of the cooperative inertial navigation system
  9. Keywords:
  10. Extended Kalman Filter ; Unmanned Aerial Vehicles (UAV) ; Inertial Navigation System ; Decentralized Cooperative Navigation ; Real-Time Code in the Loop Implementation

 Digital Object List

 Bookmark

No TOC