Algoritmo de Navegação com Fusão de Sensores Utilizando FKE Aplicável a Veículos de Sondagem

  • Nathália M. da Silva Mesquita Instituto Tecnológico de Aeronáutica - ITA São José dos Campos-SP
  • Carlos A. P. Carvalho SIATT, São José dos Campos-SP
  • Leonardo R. Rodrigues Instituto Tecnológico de Aeronáutica - ITA São José dos Campos-SP
Keywords: Extended Kalman Filter, Inertial Navigation, Sensor Fusion


This paper presents the development of an inertial navigation system using the Extended Kalman Filter (EKF) algorithm with sensor fusion. For this purpose, the proposed algorithm was applied to a flight simulation of rocket RD-08, which was designed by student from the ITA Rocket Design team (ITA-RD) to participate at the international competition SpacePort America Cup, that took place in the USA, an event belonging to the IREC (Intercollegiate Rocket Engineering Competition). Since the acquisition of sensor data was not possible during the competition, in this paper sensor data were modeled based on technical information obtained from sensor datasheets. Measurements from accelerometers, gyrometers, and GPS were simulated. Finally, the EKF algorithm was implemented with GPS sensor fusion to estimate the velocity, geographic position, attitude, and inertial sensors biases of the vehicle to minimize the modeling and measurement errors.