| dc.description.abstract | The thesis objective was to get a better insight in theories behind global navigation satel-
lite systems, inertial navigation systems and the two integrated. Current technology used
to realize such system was also investigated.
The development process started by specifying the requirements, designing and imple-
menting a solution.
The project resultet in a Navigation Module for INS with GNSS multi-antenna system
and a Kalman filter for estimating position, velocity, attitude and IMU biases.
Some of the findings were that a loosely coupled Kalman filter has great advantages com-
pared to a uncoupled filter and is good at estimating filter states through short GNSS
outages.
The conclusion of the results found in the experiment is that designing a Kalman filter
that performes well compared to established systems is achievable. The thesis lead to a
hardware and software module that performed as intended.
For future work an expansion of the filter can be done. Also, other coupling schemes can
be investigated further and implemented. | |
