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Stages/Activities
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Deadlines
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2015 Stage I: Documentation on the GPS, strap-down
inertial navigators and their associated errors, on the INS/GPS synergic
architectures, and on the data fusion methods in these systems - concepts,
principles, implementation, existing methods of modeling and analysis.
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30.12.2015
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I.1.
Concepts for modeling and analysis of GPS, strap-down inertial navigators
and their associated errors.
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I.2. Conceptual models for the architectures of the integrated
INS/GPS navigation systems.
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I.3.
Conceptual models for the data fusion algorithms in the integrated INS/GPS
navigation systems.
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I.4.
Initiation website and dissemination through publication.
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2016 Stage II: Development of strap-down inertial
navigation algorithms, error models for them and software tools to
implement developed models - validation by numerical simulation. Creating data fusion algorithms in smart
structures for integrating INS/GPS and software tools for their
implementation.
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30.12.2016
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II.1.
Strap-down inertial navigation algorithm for global positioning based on
the quaternionic calculus of the attitude - error
model development. Matlab subroutines with
graphical interface for algorithm and for its error model - functionality
testing.
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II.2.
Strap-down inertial navigation algorithm for global positioning based on
the matriceal calculus of the attitude - error
model development. Matlab subroutines with
graphical interface for algorithm and for its error model - functionality
testing.
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II.3.
Structural design of data fusion intelligent algorithm based on an adaptive
neuro-fuzzy inference system and Kalman
filtering, for the prediction of the positioning errors during GPS signal
outages at the quaternionic global inertial
positioning - software implementations and functionality testing.
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II.4.
Structural design of data fusion intelligent algorithm based on an adaptive
neuro-fuzzy inference system and Kalman
filtering, for the prediction of the positioning errors during GPS signal
outages at the matriceal global inertial
positioning - software implementations and functionality testing.
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II.5.
Structural design of data fusion intelligent algorithm based on an adaptive
neuro-fuzzy inference system to predict the mislaid GPS reading data at the
quaternionic global inertial positioning -
software implementations and functionality testing.
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II.6.
Structural design of data fusion intelligent algorithm based on an adaptive
neuro-fuzzy inference system to predict the mislaid GPS reading data at the
matriceal global inertial positioning - software
implementations and functionality testing.
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II.7.
Large scale dissemination of results.
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2017 Stage III: Experimental development of integrated
INS/GPS navigators’ hardware structures using low-cost inertial measurement
unit with MEMS sensors. Experimental tuning and evaluation through
numerical simulation of the data fusion algorithms in INS/GPS integrated
structures. Functionality
demonstration for INS/GPS developed integrated navigators through testing
and experimental validation in various detection scenarios.
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30.09.2017
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III.1. Design and experimental development of integrated INS/GPS navigators’
hardware structures using low-cost inertial measurement unit with MEMS
sensors.
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III.2. Tuning with experimental acquired data and evaluation through numerical
simulation of the data fusion algorithms in INS/GPS integrated structures.
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III.3.
Demonstration of functionality and performance evaluation of INS/GPS
integrated navigators for open sky detection with good GPS signals.
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III.4.
Demonstration of functionality and performance evaluation of INS/GPS
integrated navigators for various detection scenarios with GPS signal
outage.
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III.5.
Testing of INS/GPS integrated navigators for INS detection only, to
evaluate the navigation performance if they are to be used without access
to the GPS signals.
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III.6.
Dissemination through publication.
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III.7.
Improving the master course: Integrated
aerospace navigation systems.
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