Satellite/Inertial Navigation and Positioning System


The goal of this project is to integrate an inertial sensor and a GPS unit into a unified, low-cost navigation system. The inertial sensor will have nine degrees of freedom from magnetometers, accelerometers, and gyroscopes with respect to each axis in R3 (x; y; z). Cheaper IMU devices are built with MEMS sensors which constantly accumulate errors, resulting in a position "drift" that will give increasingly incorrect solutions. On the other hand, a standalone GPS unit can be error prone as well if there is anything blocking the open sky (such as tall buildings or mountain ranges). The motivation for this project is that the fusion of both devices can produce accurate, robust navigation at a low cost.

This project is supported by Northrop Grumman.



Recent Updates  

Functional Requirements now posted under Deliverables!