NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Developing a Fundamental Model for an Integrated GPS/INS State Estimation System with Kalman FilteringThis work will demonstrate the integration of sensor and system dynamic data and their appropriate models using an optimal filter to create a robust, adaptable, easily reconfigurable state (motion) estimation system. This state estimation system will clearly show the application of fundamental modeling and filtering techniques. These techniques are presented at a general, first principles level, that can easily be adapted to specific applications. An example of such an application is demonstrated through the development of an integrated GPS/INS navigation system. This system acquires both global position data and inertial body data, to provide optimal estimates of current position and attitude states. The optimal states are estimated using a Kalman filter. The state estimation system will include appropriate error models for the measurement hardware. The results of this work will lead to the development of a "black-box" state estimation system that supplies current motion information (position and attitude states) that can be used to carry out guidance and control strategies. This black-box state estimation system is developed independent of the vehicle dynamics and therefore is directly applicable to a variety of vehicles. Issues in system modeling and application of Kalman filtering techniques are investigated and presented. These issues include linearized models of equations of state, models of the measurement sensors, and appropriate application and parameter setting (tuning) of the Kalman filter. The general model and subsequent algorithm is developed in Matlab for numerical testing. The results of this system are demonstrated through application to data from the X-33 Michael's 9A8 mission and are presented in plots and simple animations.
Document ID
20020043249
Acquisition Source
Marshall Space Flight Center
Document Type
Other
Authors
Canfield, Stephen
(Tennessee Technological Univ. Cookeville, TN United States)
Date Acquired
August 20, 2013
Publication Date
October 1, 1999
Publication Information
Publication: 1999 NASA/ASEE Summer Faculty Fellowship Program
Subject Category
Electronics And Electrical Engineering
Funding Number(s)
CONTRACT_GRANT: NGT8-52874
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Available Downloads

There are no available downloads for this record.
No Preview Available