Evaluation of Different State Transition and Estimation Approaches in Multi-Sensor Multi-Platform Navigation with respect to varying types of trajectories using MATLAB

Status: Abgeschlossen, Dezember 2014

Bearbeitung: M.Sc. Nerea Ibarrola Subiza

This Master thesis describes the theoretical and practical development of a parameter estimation process to be applied in navigation applications. After multiple tests, it has been demonstrated that the introduction of conditions helps to correct the obtained parameters’ values in general. The automotive condition is needed in order to correct orientation, confirming its usefulness and need in navigation applications.

Figure 2 and figure 3 show the orientation error in a circular trajectory after applying an adjustment process without conditions and with conditions, respectively. Further investigations were dealing with the integration of odometry as further sensor observation type.

HSKA link of summary