Development of a GPS/INS sensor fusion simulation environment using flight data

Francis J. Barchesky, Jason N. Gross, Yu Gu, Matthew Brandon Rhudy, Marcello R. Napolitano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents the development of a GPS/INS sensor fusion simulation environment through the use of WVU YF-22 flight data. Noise on the GPS measurements was modeled using satellite ephemeral data as well as recorded flight data. The noise characteristics of the IMU were determined from an Allan variance approach. The GPS and IMU noise models were implemented in the WVU formation flight simulator, which includes an EKF-based sensor fusion algorithm to estimate the position, velocity, and attitude of the aircraft. Using both simulated and recorded flight data, attitude estimation results were used to evaluate the accuracy of the GPS and IMU measurement noise models, since the flight data includes a high quality measurement of the roll and pitch angles from a mechanical vertical gyroscope. It was determined from this analysis that the simulator includes a realistic model of the noise present in recorded flight data, which allows for validation and analysis of sensor fusion algorithms.

Original languageEnglish (US)
Title of host publicationAIAA Modeling and Simulation Technologies Conference 2011
Pages312-319
Number of pages8
StatePublished - Dec 1 2011
EventAIAA Modeling and Simulation Technologies Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Modeling and Simulation Technologies Conference 2011

Other

OtherAIAA Modeling and Simulation Technologies Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Modeling and Simulation

Cite this

Barchesky, F. J., Gross, J. N., Gu, Y., Rhudy, M. B., & Napolitano, M. R. (2011). Development of a GPS/INS sensor fusion simulation environment using flight data. In AIAA Modeling and Simulation Technologies Conference 2011 (pp. 312-319). (AIAA Modeling and Simulation Technologies Conference 2011).