Entwurf und Implementierung eines hybriden Navigationssystems für Experimentalanwendungen

Abstract

Navigation systems and knowledge of the current position at any time are becoming increasingly important in today’s life. Even in the research and exploration of unknown terrain or other planets navigation systems have a crucial role. The German Aerospace Centre works at different research projects that require a very precise knowledge of its current navigation solution. This thesis describes the design and implementation of a hybrid navigation system for experimental applications. With the aid of a discrete delayed error state extended Kalman filter information of different sensors can be utilized in one system. The concept of the feedback filter offers the possibility to reduce errors of the inertial navigation system with additional sensors such as a satellite navigation system, barometer, magnetometer and laser altimeter. This approach takes advantage of the fusion of the various sensor characteristics for the optimal integration of all measured values. It is implemented on a real-time system and provides always current navigation solutions during the experiments.