Developement of a INS/GPS navigation loop for an UAV

Abstract: This master thesis report presents the developement of an INS/GPS navigation
loop written in ANSI C++ using a standard matrix library.
The filter have been tested on an Unmanned Aerial Vehicle (UAV) called
Brumby. Here data
have been logged from the Inertial Measurement Unit (IMU) and the Global
Positioning System (GPS) receiver. This data have then been
postprocessed and run through the navigation filter for estimation of
position, attitude and velocity of the vehicle during the flights.
The error feedback to the Inertial Navigation System (INS) is done with a
complement filter implemented using a kalman filter written in information
form.The resulting navigation filter estimates the attitude within two
degrees with 95% confidence and the position within two meter using 95%
confidence.