Navigation using Inertial Sensors

Bachelor thesis (2022)

Authors

S. Kronemeijer Electrical Engineering, Mathematics and Computer Science

Contributors

A.R.P.J. Vijn Mathematical Physics - EEMCS (mentor)
Faculty
Electrical Engineering, Mathematics and Computer Science, Electrical Engineering, Mathematics and Computer Science
Copyright: © 2022 Sander Kronemeijer
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Published Date

07-07-2022

Language

English

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

The world’s reliability on the Global Position System (GPS) is experiencing more and more vulnerabilities. Not just environmental factors are responsible for GPS inaccuracies, but blocking or spoofing location signals has become more commonly available worldwide. This raises interest in other methods to navigate without 3rd party connections. Using an Inertial Navigation System (INS) is such a method. In this paper an algorithm is created based on the sensor fusion input of acceleration and orientation data. In order to correct itself from integration drift the algorithm makes use of Kalman filtering. Multiple simulations and real-world experiments have been done with the use of a tablet. This has promising results in the computer simulations but showcases some real difficulties when used in practice. This report gives a basis of research in this field, and many more recommendations of extensions are made.